409 results about "Buoyancy regulation" patented technology

The invention relates to the technical field of unmanned detection, and provides an axle buoyancy chamber type indoor inspection airship. A cabin body of the inspection airship is of a shell structure and is divided into an upper cavity and a lower cavity, a hollow stepping motor is installed in the upper cavity, and a detection control unit is installed in the lower cavity. Two buoyancy tires are symmetrically arranged on the two sides of the cabin body and installed on the cabin body through tire supports, the buoyancy of the buoyancy tires is larger than the dead weight of the airship so that the buoyancy tires can make close contact with the top face of the limited space, and a wheel train driving friction pair is formed. A hollow transmission shaft of the buoyancy tire is connected with the output end of the hollow stepping motor, and the buoyancy tire walks on the top face of the limited space in a wheel mode. The buoyancy tires can perform automatic air supply and / or buoyancy adjustment so as to adjust the buoyancy of the airship; two independently-driven vector fans are correspondingly arranged on the outer sides of the two buoyancy tires respectively, and the angle and thrust differential motion of the vector fans are changed through rotation of the two vector fans, so that position and attitude control of the airship in the flying process is achieved.

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 submarine cable laying robot comprises a main body frame, a buoyancy adjusting device is arranged at the top of the main body frame, spiral propellers are arranged on the two sides of the main body frame respectively, a cable pressing device and two spraying devices are arranged at the bottom of the main body frame, and the two spraying devices are symmetrically arranged at the bottom of the main body frame. The cable pressing device is arranged corresponding to the two spraying devices; the spiral propeller is used for driving the submarine cable laying robot to walk on the seabed, the buoyancy adjusting device is used for adjusting the buoyancy of the submarine cable laying robot on the seabed, and the two spraying devices are used for digging cable burying grooves with the corresponding depths in the corresponding positions of submarine cables in the mode of spraying high-pressure liquid. And the cable pressing device is used for pressing the cable into the cable burying groove. The device has the universality of different cable burying depth operations and the universality of different seabed geological operations, the operation efficiency and safety are improved, and the cost and the risk are reduced.

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 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 relates to the field of underwater vehicles, and provides a submersible buoyancy adjustment and depth control method and system based on machine learning, and the method comprises the following steps: collecting original data through a sensor network; performing denoising processing and standardization processing on the original data to obtain external environment data and submersible state data; determining a current buoyancy state of the submersible based on the submersible state data and the external environment data, and calculating a compensation buoyancy deviation between the current buoyancy state and a preset target buoyancy state; inputting the compensation buoyancy deviation into a buoyancy adjusting model to obtain a buoyancy adjusting instruction, and dynamically adjusting the displacement of the submersible based on the buoyancy adjusting instruction; the compensation depth deviation between the submersible and the target is calculated based on the depth data, a vertical propulsion control instruction is generated through a PID control algorithm according to the compensation depth deviation, the vertical propulsion control instruction is output to the vertical propeller, and the depth of the submersible is dynamically adjusted through the vertical propeller. Accurate control over the buoyancy and the depth of the submersible is achieved, the buoyancy adjusting precision and adaptability are improved, depth control is optimized, and the operation capacity of the submersible in the complex underwater environment is improved.

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.

A combined type shared mooring system of a wave energy device array comprises a wave energy device basic module and a shared mooring module, and the wave energy device basic module comprises a buoy, a main floater, a power generation chamber cabin and a mooring chassis which are arranged in a matched mode; a buoy is arranged above the power generation chamber cabin, the main floater is fixedly connected with the power generation chamber cabin, and a closed space is formed in the main floater and can provide buoyancy for the wave energy device. The buoy reciprocates under the action of waves to drive the wave energy device in the power generation chamber cabin to generate power; the mooring chassis is in a regular hexagon shape, is formed by welding steel frames and is fixedly installed at the bottom of the power generation chamber cabin. The shared mooring module comprises a shared mooring rope, a bottom mooring rope, an anchor chain, an anchoring base station, a buoyancy adjusting oil bag, a shared mooring balancing weight and a bottom mooring balancing weight, wherein the shared mooring balancing weight and the bottom mooring balancing weight are arranged in the middle of the mooring rope.

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 utility model relates to the technical field of prefabricated accropode block placing and positioning, in particular to a prefabricated accropode block placing and positioning device which is characterized in that a connecting mechanism is installed on a crane, an accropode block is supported through a fixing mechanism, then a limiting mechanism is placed in water, and the weight of the limiting mechanism is adjusted through a buoyancy adjusting mechanism. The angle of the accropode block is adjusted through cooperation of the limiting mechanism and the connecting mechanism, then the underwater environment is shot through the monitoring mechanism, the height of the accropode block is adjusted through the fixing mechanism, the accropode block is placed at the designated position, and therefore the practicability of the device is improved. Comprising a connecting mechanism; the device further comprises a limiting mechanism, a fixing mechanism, a buoyancy adjusting mechanism and a monitoring mechanism, the limiting mechanism is installed on the connecting mechanism, and the fixing mechanism, the buoyancy adjusting mechanism and the monitoring mechanism are all installed on the limiting mechanism.

The invention relates to the technical field of deep-sea mining, in particular to a self-adjusting buoyancy configuration method suitable for a seabed mine gathering car, which comprises a buoyancy configuration device, and the buoyancy configuration device comprises a car body attitude sensing system and a buoyancy adjusting system; the vehicle body posture sensing system comprises a radar and a multi-sensor combined system, the multi-sensor combined system comprises a vehicle body posture sensor, a speed sensor and an ACN underwater acoustic communication set, and the buoyancy adjusting system comprises a buoyancy device, a propeller propelling device, a vibration sensor and a vibration compensator. The inner side of the vibration compensator is connected with the mine lifting hose, the buoyancy device is connected with the outer side of the vibration compensator, and the propeller propelling device is connected with the buoyancy device.

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 water conservancy project dams, in particular to a water conservancy project dam reinforcing protection assembly and a reinforcing method.The water conservancy project dam reinforcing protection assembly comprises a dam body, a U-shaped frame is detachably connected to the dam body, a movable protection plate is installed on one side of the U-shaped frame, and two telescopic assemblies are slidably installed in the movable protection plate; the reinforcing method comprises the following steps of component mounting and reinforcing, buoyancy adjusting, preliminary water wave blocking and closed shielding. According to the device, the upper end of the baffle is located at the upper end of the water body through the buoyancy effect in the water body through the buoyancy assembly and the high-pressure air bag retraction assembly, and the impact force of water waves is converted to effectively break continuous and uniform impact of the water waves; and when water waves become large, the positions of the baffles can be rapidly locked, the two movable baffles are unfolded, the dam body is fully shielded, the water waves are prevented from directly impacting the dam body, the dam body can be effectively reinforced through the U-shaped frame, and the firmness of the face, facing the water waves, of the dam body is 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 present invention discloses a comprehensive monitoring system for ocean currents based on an ocean observation buoy, which relates to the field of ocean observation technology, and includes a buoy main body module, a net buoyancy adjustment module, a motion state prediction module, a buoy deviation evaluation module, a buoy motion optimization module, and a data transmission module, wherein the modules are connected by electrical signals; the buoy main body module is equipped with various sensors to collect physical parameters of the ocean environment. Through the coordinated work of the motion state prediction module and the buoy motion optimization module, the system can predict and adjust the motion state of the buoy to reduce the data collection error caused by environmental changes, thereby improving the accuracy of the data, providing a solid data foundation for marine scientific research, and through the motion state evaluation module, the abnormal motion state of the buoy can be discovered in time, and the state of the buoy can be quickly adjusted through the motion optimization module to ensure the continuity and accuracy of the data.

The buoyancy adjusting system comprises a mounting base, a corrugated pipe assembly and a driving rod, the corrugated pipe assembly comprises a corrugated pipe, a first end cover and a second end cover, a drainage space is formed in the corrugated pipe, and in the axial direction of the corrugated pipe, the first end cover and the second end cover block the two ends of the corrugated pipe correspondingly; in the circumferential direction of the corrugated pipe, the first end cover is in limiting fit with the mounting base, the driving rod extends in the axial direction of the corrugated pipe and comprises a first rod body and a second rod body, the first rod body rotatably penetrates through the mounting base, the mounting base is provided with a lead screw nut, and in the circumferential direction of the lead screw nut, the lead screw nut is in limiting fit with the mounting base; the lead screw nut is arranged on the first rod body in a sleeving mode and matched with the first rod body in a threaded mode. The second rod body is arranged on the first end cover in a penetrating mode and connected between the lead screw nut and the second end cover. The buoyancy adjusting system is simple in structure, easy to maintain and repair and low in cost, and meanwhile the safety of the buoyancy adjusting system is 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 invention discloses an underwater vehicle buoyancy adjusting device. The lower end of the outer wall of a main piston of a main buoyancy adjusting unit is mounted on a base, and the upper end of the outer wall of the main piston is connected with a main inner piston through a main corrugated pipe; the lower end of the push rod is connected with the servo push rod motor, the upper end of the push rod is connected with the main inner piston, and the servo push rod motor controls the push rod to stretch out and draw back to drive the main inner piston to move relative to the outer wall of the main piston so as to adjust the size of the main piston device. The main oil bag is installed between the servo push rod motor and the main inner piston, and oil is injected into the main oil bag to assist the main inner piston to move. The right side buoyancy adjusting unit and the left side buoyancy adjusting unit are symmetrically arranged on the two sides of the main buoyancy adjusting unit, and oil is injected into the side oil bags to push the side inner pistons to move so as to adjust the volume of the pistons. The buoyancy can be quickly and accurately adjusted by using the push rod in a shallow water environment, and the buoyancy can be changed by switching to an oil bag auxiliary push rod mode when entering a deep water environment, so that the application range is further expanded.

The invention provides an automatic compensation method for underwater buoyancy of an AUV (Autonomous Underwater Vehicle), which meets the navigation depth control requirement caused by the change of seawater density in the navigation process of the underwater vehicle. Comprising the following steps: step 1, acquiring seawater temperature, salinity and navigation depth data of a current sea area; 2, according to the obtained seawater temperature, salinity and navigation depth data, the seawater density rho1 of the position where the AUV is located is calculated, and meanwhile the current liquid level of an AUV buoyancy adjusting device is collected through a liquid level sensor; 3, calculating the weight M1 of the AUV according to the seawater density rho1 and the volume V of the AUV, and comparing the weight M1 with the initial weight M0 to obtain weight change; 4, after the water amount of the AUV is adjusted, a proper liquid level value H1 is obtained, and the AUV stores the liquid level value to serve as the balance liquid level for depth control during underwater navigation of the AUV.

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.

Disclosed in the present application are a pool cleaning robot and a control method therefor. The pool cleaning robot comprises a robot body, a buoyancy adjustment unit and a first driving unit, the buoyancy adjustment unit and the first driving unit being arranged on the robot body or connected to the robot body. The buoyancy adjustment unit is arranged to enable the pool cleaning robot to go back and forth between a water surface and a liquid immersion surface; under the action of the buoyancy adjustment unit, when the pool cleaning robot floats to the water surface, the first driving unit is configured to drive the pool cleaning robot to move on the water surface. The pool cleaning robot of the present application is provided with the buoyancy adjustment unit, and the buoyancy adjustment unit can increase or reduce the weight of the pool cleaning robot, such that the pool cleaning robot automatically floats upwards and dives downwards; and when the machine needs to float to the water surface, the machine can automatically float without the need for manually searching the machine and lifting the machine out of the water surface, thereby saving human labor.

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.