207 results about "Buoyancy regulation" patented technology

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 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 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 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 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.

1. Name of the product in this design: Buoyancy Adjustment Device. 2. Purpose of this design: To provide variable buoyancy for buoys. 3. The key design features of this product are its shape and the combination of shape and color. 4. The image or photograph that best illustrates the design's key points: 3D view 1. 5. The design for which protection is sought includes color.

The invention provides a wind-wave-resistant anchoring and adjustable positioning device suitable for floating plants, and relates to the technical field of ecological restoration, the wind-wave-resistant anchoring and adjustable positioning device comprises an elastic connecting mechanism, a floating planting mechanism, a buoyancy adjusting mechanism, a butt-joint anchoring mechanism and a positioning management mechanism; the elastic connecting mechanism is mounted at the top of the anchoring and positioning mechanism; the floating planting mechanism is mounted at the top of the elastic connecting mechanism; the buoyancy adjusting mechanism is mounted on the floating planting mechanism; a circle of butt-joint anchoring mechanisms are arranged, and the circle of butt-joint anchoring mechanisms are mounted on the floating planting mechanism; the positioning management mechanism is mounted at the top of the floating planting mechanism, and the positioning management mechanism is used for positioning the position of the floating planting mechanism; through the arrangement of the row of stable stress frames, the resistance of the elastic connecting ropes moving in water is increased, and the effect of assisting in resisting storm waves is achieved; the problem that resistance between an anchoring steel wire rope and water is usually small, and the effect of assisting in resisting storm waves cannot be achieved is solved.

The invention provides a smart posture-adjustable benthic underwater robot and a control method, and relates to the field of underwater resource exploration equipment. Comprising a robot body which is composed of a top sealing flange, a shell and a tail sealing flange. A camera module, a main control module, a navigation module, a gravity center adjusting module and a buoyancy adjusting module are arranged in the shell; a floating and sinking module and a driving module are arranged outside the shell. A dual-mode posture adjusting mechanism combining floating and sinking adjustment and gravity center adjustment is provided, a posture adjusting mode with better energy consumption can be flexibly selected, and the overall energy consumption of the robot is effectively reduced. Task-track-execution decoupling is achieved through a three-layer control architecture, the response speed and control precision of the system are improved, a dynamic priority algorithm is introduced into the top layer, the real-time performance and robustness of task planning are enhanced, quintic polynomial interpolation is adopted in the middle layer, a smooth track is generated, and motion sudden change is avoided; and the bottom layer adopts multi-degree-of-freedom PID control, so that accurate control on the executing mechanism is realized.

The utility model relates to an oil drain valve for an oil remover based on buoyancy adjustment, which belongs to the technical field of oil-water separation and comprises a mounting valve body, a valve core mounted in the mounting valve body, a sealing valve cover arranged at the upper end of the mounting valve body, a positioning mounting frame mounted in the sealing valve cover, and a guide rod chock plug clamped in the positioning mounting frame. The outer side of the guide rod chock plug is sleeved with a return spring, the lower end of the guide rod chock plug is provided with a spherical sealing body, the lower side of the spherical sealing body is provided with a main buoy, and high-precision recognition and self-adaptive control of an oil-water interface are achieved through the synergistic effect of the main buoy and a nonlinear spring and in combination with a conical surface-spherical surface composite sealing structure; the density of an inner cavity of the main buoy is adjustable to adapt to different oil products and working conditions; the nonlinear spring provides a gradient increasing reset force in a critical displacement interval, so that the sensitivity is improved; the device does not need external energy, the leakage rate is lower than 0.01 mL / min under the pressure of 10 bar, and the device is suitable for continuous and efficient separation of oil-containing wastewater.

The application provides a floating gravity driving motor floating mark based on wing control and a use method, which comprises a body and internal facilities, and has the following characteristics: the body is a spherical shell, cylindrical through holes are formed in the two sides of the body, and a water pumping outlet is arranged at the bottom. The internal facilities comprise an internal mounting platform, a buoyancy adjusting device, a control communication and power system, a wing system, and positioning and communication equipment. The wing system comprises two wing rods, two gliding wings, and two wing rotating rudders. The two wing rods connected by the two wing rotating rudders are provided with the gliding wings at the ends of the two wing rods penetrating out of the cylindrical through holes. The control communication and power system comprises a battery pack, an integrated power distribution management module and a controller which are fixed on the internal mounting platform. The controller controls the forward and reverse rotation of the two wing rotating rudders to drive the two gliding wings to rotate forward or reversely. The motor floating mark has the ability of long-time observation and standby of Argo floating marks and the ability of tracking and observing movable ocean phenomena by gliders, and has the advantages of small size and low energy consumption.

A wave-activated buoyancy regulator for structures positioned in a body of water, wherein a wave-activated pump is used to provide neutral, negative and positive buoyancy in response to prevailing ambient wave conditions, through the variation of the ratio of a first fluid to a second fluid within a ballast tank.

The application discloses a kind of coastal groundwater-surface water monitoring sampling device and experimental method of adaptation tidal fluctuation, including carrying platform, amphibious mobile track system located below carrying platform, positioning navigation system located on carrying platform, buoyancy adjusting wing plate system symmetrically located on the both sides of carrying platform, groundwater monitoring sampling system located on carrying platform, surface water monitoring sampling system located on carrying platform, sample separation and preservation system located in carrying platform, visual monitoring system located on carrying platform and control system located in carrying platform, wherein control system is respectively electrically connected with amphibious mobile track system, positioning navigation system, buoyancy adjusting wing plate system, groundwater monitoring sampling system, surface water monitoring sampling system, sample separation and preservation system and visual monitoring system.The application realizes synchronous, layered sampling of groundwater and surface water at different sites in coastal zone within full tidal cycle.

This application provides an automatic pool cleaning device, its control method, and a computer storage medium. The automatic pool cleaning device includes a filter, a buoyancy adjustment mechanism, a housing, and a water pump at least partially located within the housing. The water pump draws external water into the filter. The housing has an opening connected to the water pump. The control method includes: controlling the automatic pool cleaning device to move upward underwater until the opening emerges above the water surface; when the opening emerges, controlling the water pump to draw air from outside the housing into the opening, wherein the pitch angle of the automatic pool cleaning device changes after the external air enters the opening; determining whether the change in the pitch angle of the automatic pool cleaning device or the duration of the water pump drawing air from outside the housing into the opening meets a predetermined condition; if so, controlling the buoyancy adjustment mechanism to increase the buoyancy of the automatic pool cleaning device. This method can improve the stability and safety of buoyancy adjustment when the machine floats.

The application discloses a kind of underwater reciprocating observation platforms of throw load type buoyancy adjustment, belong to underwater survey technical field, comprising: shell, with located upper float block cabin and located lower weight block cabin;Float block cabin, multiple float blocks with throw load are provided in it;Weight block cabin, multiple weight blocks with throw load are provided in it;Throw load device, with driving device, linkage structure can be moved up and down under the drive of the driving device, and for throw load float block float block throw load structure and for throw load weight block weight block throw load structure;The linkage structure is connected between block throw load structure and weight block throw load structure, drives the float block throw load structure and weight block throw load structure action, realize the weight and float block are alternately thrown out.The equipment floats and sinks by the throw load of float block and weight block, break oil consumption oil bottleneck, realize lightweight and long endurance.After float block and weight block throw load, directly separate from equipment, will not cause additional load, the volume and weight of equipment can be accurately controlled.

The invention relates to the technical field of underwater robots, in particular to a pipeline steering and driving underwater robot which comprises two frames, a control module is fixedly arranged between the two frames, driving mechanisms are arranged in the frames, steering mechanisms are arranged on the four sides of the side faces of the driving mechanisms, and auxiliary mechanisms are arranged on the lower sides of the driving mechanisms. The driving mechanism comprises a shell, a rotating frame, an electromagnetic coil and a fan blade block, and connecting pipes are arranged on the two sides of the shell in a mirror image mode. Driving, steering and buoyancy adjusting functions are highly integrated in an innovative pipeline system, the overall performance is remarkably improved, the core is that a hollow propeller is combined with a universal adjusting pipeline nozzle to serve as a power and course adjusting mechanism, the winding risk of underwater sundries is fundamentally avoided, and the overall performance is improved. And through cooperative operation of all the mechanisms, the robot is endowed with unprecedented omnidirectional maneuvering capability, rapid submerging and surfacing response and stable wall attachment detection performance, the structure is compact, and control is efficient.

The invention discloses a cross-medium variable tilt rotor aircraft and a control method thereof, and relates to the technical field of cross-medium aircrafts. Comprising a fuselage, front rotor units, a tail tilting rotor assembly, main wing units and wing unfolding and folding mechanisms, wherein the front rotor units are arranged on high-position mounting platforms on the two sides of the fuselage and are in bilateral symmetry; the tail tilting rotor assembly is arranged at the tail end of the fuselage and can rotate around a transverse tilting shaft; the main wing units are in bilateral symmetry and can be folded; the buoyancy adjusting unit and the control system are arranged in the fuselage. Through collaborative design of fuselage bionic integration, the composite rotors, the variable main wings, active buoyancy adjustment and closed-loop control, the traditional single propulsion bottleneck is broken through, cross-medium adaptation, consideration of take-off and landing and cruising efficiency and smooth transition are achieved, multi-scene adaptation is achieved, and breakthrough support is provided for engineering application.

The invention discloses a high-altitude airship net buoyancy adjusting device and method, and relates to the technical field of high-altitude airship net buoyancy adjustment. The high-altitude airship net buoyancy adjusting device comprises a hanging frame, a sand bag, a slinging mechanism and an inhaul cable; the hanging frame is connected with the air bag and used for bearing and dispersing loads; the sand bag is connected to the lower portion of the hanging frame, balance weight particles are contained in the sand bag, and an outlet is formed in the bottom of the sand bag. The slinging mechanism is connected below an outlet of the sand bag and comprises a control mechanism, and the control mechanism is used for controlling opening and closing of the outlet and the outflow time of the counterweight particles; the weight of the airship is directly reduced by throwing the counterweight particles, so that the net buoyancy is increased, the principle is simple, and the response is quick. The concentrated load of the sand bag is dispersed and transmitted to the air bag by adopting the hanger structure, so that stress concentration is avoided, and the air bag material is protected. The slinging mechanism achieves accurate control over the slinging amount and the slinging speed by controlling the opening and closing time and the caliber of the sand outlet, and the adjusting precision is high.

The application discloses a kind of fast insertion type emergency oil-water separation device, it is related to environmental protection technical field, the scheme can be stored to oil storage tank by filter membrane and oil liquid is filtered, and along with the increase of oil liquid in oil storage tank, oil float provides larger buoyancy with oil liquid, makes it move upwards with vertical sliding cylinder, when vertical sliding cylinder moves upwards, based on the immersion state of buoyancy adjusting tank, the larger buoyancy that oil float provides with oil liquid, makes its buoyancy cancel the water pressure of buoyancy adjusting piston and slide in the inner wall of buoyancy adjusting tank upwards, water in buoyancy adjusting tank is discharged through water hole, air outside passes through vertical sliding cylinder and enters buoyancy adjusting tank, so that its buoyancy increases, cancels the weight of oil liquid stored inside, the way can realize along with the increase of oil liquid, self weight constantly increases, the size of buoyancy is automatically controlled by the amount of oil liquid, and then guaranteeing that the draft of filter membrane in the process of continuous separation oil liquid is always in the best state.

The invention discloses a buoyancy adjusting method based on multi-cascade nested cylinders, which belongs to the technical field of exploration and comprises the following steps: (1) generating a lookup table according to corresponding depth adjusting ranges when each cascade nested cylinder is respectively used as an adjusting object; and (2) the current adjusting mode is recognized, the current depth of the device is obtained, the cascade nested cylinder serving as an adjusting object is determined according to the current depth, the motor is controlled to drive the piston to act in combination with the adjusting mode, and the drainage volume of the cascade nested cylinder serving as the adjusting object is adjusted. According to the method, the inner diameters of the cascading nested cylinders are set to be different, the cascading nested cylinder with the small inner diameter is selected as an adjusting object for buoyancy control in deep water, the cascading nested cylinder with the large inner diameter is selected as an adjusting object for buoyancy control in shallow water, and buoyancy adjustment can be achieved only by outputting small thrust through a motor. When the antenna rises to the water surface, the buoyancy is controlled to reach the maximum, and the height of the antenna emerging from the water surface is increased, thereby facilitating data transmission.

The invention discloses a load rejection type buoyancy-adjusted underwater reciprocating observation platform, which belongs to the technical field of underwater survey, and comprises a shell, which is provided with a floating block cabin positioned at the upper part and a heavy block cabin positioned at the lower part; a plurality of floating blocks capable of throwing loads are arranged in the floating block cabin; a plurality of heavy blocks capable of throwing loads are arranged in the heavy block cabin; the load rejection device is provided with a driving device, a linkage structure capable of moving up and down under the driving of the driving device, a floating block load rejection structure for rejecting a floating block and a heavy block load rejection structure for rejecting a heavy block; and the linkage structure is connected between the floating block load rejection structure and the heavy block load rejection structure and drives the floating block load rejection structure and the heavy block load rejection structure to act, so that the heavy block and the floating block are alternately thrown out. Floating and sinking of the equipment are achieved through load rejection of the floating block and the heavy block, the oil consumption bottleneck is broken through, and light weight and long endurance are achieved. And the floating block and the heavy block are directly separated from the equipment after load rejection, extra load cannot be caused, and the size and the weight of the equipment can be accurately controlled.

The invention discloses a water quality detection device for environmental water area detection, and relates to the technical field of water quality detection, the water quality detection device comprises a main body, an upper connecting plate and a lower connecting plate are respectively arranged on the upper and lower parts of the main body, and annularly distributed support legs are arranged on the outer side of the upper connecting plate; the buoyancy cabin is annular, is fixed between the upper connecting plate and the lower connecting plate and is fixed by the supporting legs, and a flexible air bag is arranged in the buoyancy cabin; the counterweight device is fixed at the middle upper part of the main body and positioned in the center of the main body; and the sampling detection device is fixed at the bottom of the lower connecting plate. The device integrates the functions of dynamic buoyancy adjustment, intelligent counterweight balance, multi-depth accurate sampling and real-time detection, and effectively solves the problems of poor stability, inaccurate sampling, detection lag and the like in the prior art.

The invention discloses a bionic flapping wing underwater vehicle cooperatively driven by a wing bow and a wing stern, and belongs to the technical field of bionic underwater vehicles. The aircraft adopts a modular cabin section design and comprises a movable bow cabin section, a buoyancy adjusting cabin section, a bionic flapping wing driving cabin section, a pitch attitude adjusting cabin section and a movable stern cabin section. The technical problem that high maneuverability and low energy consumption of a traditional underwater vehicle are difficult to consider at the same time is solved through organic combination of cooperative deflection of the movable bow and the movable stern, multi-degree-of-freedom motion of the flapping wings and buoyancy adjustment. According to the invention, a plurality of motion modes such as flapping wing propulsion, buoyancy gliding and sliding-flapping mixing can be realized, complex motion capabilities such as fixed-depth direct navigation, rapid steering, spiral steering and zigzag gliding are realized, the maneuverability, the energy consumption efficiency and the environmental adaptability are remarkably improved, and an innovative solution is provided for marine observation and detection tasks.