303 results about "Buoyancy regulation" patented technology

The present invention relates to a netpen for breeding, storage, or transport of fish in the sea, in particular completely or in part in open sea regions outside the skerries, wherein the netpen may be lowered in the sea to a desired depth when needed, wherein the netpen may be elevated to a half or approximately half submerged state for various work operations, such as maintenance and inspection of the netpen or harvesting, and wherein netpen has a substantially spherical geometry. The invention is characterized in that the netpen consists of a framework of stays (1, 2, 3, 4) mainly comprising polyethylene or polyethylene-like materials, such as PolyEthylene Low Density (PELD) or PolyEthylene High Density (PEHD), preferably PEHD, a horizontal through center pole (5) also serving as a buoyancy adjusting element for elevation and lowering of the netpen, a horseshoe-shaped working platform (6) having an integrated dock (7) for working vessels, the entire working platform including dock being liftable and lowerable through buoyancy adjustment by means of a designated element (13), and the working deck being mounted on an extended axle (15) on the center pole in such a manner that the netpen may be rotated inside said working deck. On said axle, through lines (8), there are also attached buoys (10) that gives the netpen sufficient reserve buoyancy in normal position as well as weighting organs (9) that, when the netpen is to be stabilized fully submerged at a desired depth, is landed on the sea floor; alternatively, the netpen is stabilized at the desired depth due to the reserve buoyancy in the floatation unit (30) and the floatation element (23), as shown in FIG. 30. Life-supporting functions, such as fodder, energy, and air, are being supplied to the netpen through a lifeline from a nearby floatation unit (30), preferably a platform being an integrated part of the anchoring for the netpen.

The invention provides a large-depth unmanned submersible and a depth compound control method thereof. The large-depth unmanned submersible comprises a submersible main body, a stern main propeller arranged on the stern of the submersible main body, a stem horizontal tail arranged on the stem of the submersible main body and a stein horizontal tail arranged on the stern of the submersible main body. The internal part of the submersible main body is provided with a buoyancy regulation water tank; the stern and the stem of the submersible main body are respectively provided with a stern vertical tunnel thruster and a stem vertical tunnel thruster, which are controlled by a PC / 104 computer embedded with a control core program inside a main control compression cabin. From the beginning with the water surface status, water is injected to the buoyancy regulation water tank; in the distance which is 50m far away from the predetermined depth, the ballast water inside the buoyancy regulation water tank is blown off; upward force is provided by the vertical tunnel thruster; when the sinking speed of the unmanned submersible slows down to less than 0.5 / ms, a fixed speed navigation status is entered; a longitudinal trim is controlled by means of the stern and the stem horizontal tail to ,further couple the axial movement to control precisely the depth.

A pile driving barge comprises a barge body, buoyancy adjusting devices are arranged at four corners of the barge body respectively, an upper scanner and a lower scanner for scanning vertical piles are arranged on the barge body, and GPS signal receivers are arranged at two different positions of the barge body; anchor machines for anchoring at least four different positions are arranged on the barge body; a pile frame is rotationally arranged on the barge body; the barge body is provided with an automatic pile frame lying device; a piling guide rail is arranged on the pile frame; a pile hammer is movably arranged on the pile driving guide rail; a first brake device for limiting the position of the pile hammer on the pile driving guide rail is arranged on the pile hammer, a transition roller is arranged on the upper portion of the pile frame, the upper portion of the pile hammer is connected with a winch arranged on the barge body through a steel wire rope, and a second brake device for braking by braking a winch roller to control the steel wire rope to pull the pile hammer is arranged on the barge body; and a pile cap is arranged on the pile hammer, a pile gripper for gripping thevertical pile is arranged on the lower portion of the pile frame. The invention further discloses a posture adjusting method, a positioning control method and a pile driving method of the pile driving barge.

The invention relates to a buoyancy regulating device belonging to a hydraulic device and being used for marine monitoring and marine exploration and solving the problems of large mass, volume and power consumption of the traditional buoyancy regulating device. In the invention, an oil tank is respectively connected with a first reversing valve, a hydraulic pump and a third reversing valve through pipelines; the hydraulic pump is sequentially connected with a second reversing valve, a one-way valve and an oil pocket inlet; the third reversing valve is connected with an oil pocket outlet through a throttling valve; and a liquid pressure sensor, a gas pressure sensor and a temperature sensor respectively arranged on the oil tank and an oil pocket are respectively connected with a control circuit through electric signals, the control circuit is respectively used for outputting control signals to the first reversing valve, the second reversing valve and the third reversing valve and a motor controller, and a direct-current motor is controlled by the motor controller to drive the hydraulic pump. The invention has the advantages of simple structure, small volume, light weight, reliable motion and low power consumption, wherein the buoyancy change range is 0-50N, the maximum submergence depth reaches 1800m, the power consumption is lower than 250W, and the mass is less than 25kg.

The invention discloses an artificial floating island for planting on water and a planting groove thereof. The artificial floating island comprises a floating island base, the planting groove, a buoyancy regulation and control device, a floating island protection device and a floating island fixing device. The planting groove is formed by a planting groove bottom plate and a planting groove frame, wherein the planting groove bottom plate is made of foamed cement and is provided with a plurality of preset root holes running through the upper and lower surfaces of the planting groove bottom plate; the planting groove bottom plate is coated with a waterproof outer coating layer; a nutrient soil layer is paved on the planting groove bottom plate; the planting groove is provided with a connecting device; and the connecting device comprises at least two planting groove bottom plate through holes, inserted pipes inserted in the corresponding planting groove bottom plate through holes, and connecting wires inserted into the inserted pipes.

The invention provides a hybrid driven buoyancy regulating device for an underwater glider. The hybrid driven buoyancy regulating device comprises a heat exchanger and a buoyancy regulating cabin. A heat exchanger pressure-proof shell is filled with a temperature-sensitive phase-change material. A heat exchanger hose is filled with transmission fluid and connected to a hose plug in a sealing way.The two ends of the heat exchanger pressure-proof shell are connected through a flat head and an oval head, and O-rings are adopted for sealing. The heat exchanger and the buoyancy regulating cabin are connected by adopting pipelines. The buoyancy regulating cabin comprises an accumulator, an internal skin, a bidirectional gear pump, an outer skin, a control circuit board and pipelines. The permeable outer skin and the heat exchanger are suspended outside the glider body to bear the sea water pressure, and the buoyancy regulating cabin is arranged in the glider main shell. The pipelines insidethe buoyancy regulating cabin cooperate with the heat exchanger outside the cabin and the outer skin, and thus the buoyancy is changed. The hybrid driven buoyancy regulating device utilizes the temperature difference energy of the working sea depth and the bidirectional gear pump for driving, the working range of underwater gliding is widened, the working hours are increased, and the reliabilityand the energy utilization rate are improved.

The present invention provides a self-draining oil buoyancy regulating device for underwater robots, wherein the accumulator, lower hatch cover, hatch trunk, upper hatch cover and bladder are fixedly connected in sequence; the water-proof connector is fixed on the upper hatch cover; the depth-pressure sensor is settled on the lower hatch cover to check the underwater pressure; the upper valve block, hydraulic-operated check valve and lower valve block are connected though piping in sequence; the lower valve block is fixed on the lower hatch cover; the pump outlet pressure sensor and the accumulator pressure sensor are settled on the lower valve block; the directional valve and the upper valve block are connected through piping; the hydraulic pump motor assembly and the relief valve are both connected with the lower valve block through piping; the depth-pressure sensor, pump outlet pressure sensor and accumulator pressure sensor are all connected with the control panel; the control panel is connected with the external power supply and the host computer respectively by the water-proof connector; The present invention adopts a whole hydraulic plan which performs active oil drain and passive oil return; the design of overlay valve blocks has advantages of compact structure, reliable and energy-saving.

The invention discloses an ascending and descending dual-buoyancy regulation sinking bed-floating bed water quality purification device. A sinking bed system is provided with a hollow sinking bed water level regulating framework; a circle of hollow outer rectangular framework is tightly fixed on the periphery of an upper rectangular frame of the sinking bed water level regulating framework; water is injected into the sinking bed water level regulating framework and the outer rectangular framework, so that the sinking bed system reaches a fixed planting water level or a growth water level. The device is characterized in that a floating bed system providing region is added to the periphery of a sinking bed; the system balance is controlled through the peripheral single floating bed system; the bed body stability is enhanced, so that the influence of environment factors on the sinking bed and a floating bed is reduced. The water level of water sinking plants in the water is regulated through the water irrigation and water pumping effect inside the sinking bed and the effect of a regulating rope; by controlling the growth position of the water sinking plants in the water, the most proper growth water level of the water sinking plants in the water can be realized; the natural environments are simulated to the maximum degree. The water sinking plants and water emerging plants are combined; the water body ecological system recovery can be facilitated to the maximum degree.

The invention relates to a novel large-span hybrid-driven unmanned underwater vehicle, which comprises a shell structure, a large-span structure, an antenna, a gliding wing, a propeller and a tail fin. The invention is characterized in that: a buoyancy adjusting system, a pitch adjusting system, a control system, a throwing device, a sensor and a communication antenna are arranged in the shell structure; The underwater vehicle can realize the switching of three motion modes according to different tasks and work requirements, and achieve the requirements of saving energy and completing tasks. Mixed gliding and propulsion modes can be used when accelerated diving and descent are required; By controlling the different differential speeds of the two wing-end thrusters, the spatial spiral motion with different radii of gyration can be realized. By adjusting the wing structure and the overall layout of the glider, the anti-disturbance flow performance during gliding is optimized, and the stability of the unmanned aerial vehicle is improved. The underwater vehicle realizes the combination of the advantages of the glider and the AUV, and has the advantages of long range, sufficient space,powerful function, high stability, and strong maneuverability.

The invention provides a deep-sea oil-pocket buoyancy regulation device, comprising a control cabinet, a pressure-resistant oil tank and a telescopic oil pocket. The buoyancy regulation device is characterized in that the upper hemispheroid and the lower hemispheroid of the control cabinet are connected with each other; a mounting plate is fixed in the lower hemispheroid; a DC motor, a motor driver, a hydraulic pump and a control circuit board are arranged on the mounting plate; the lower hemispheroid is provided with an oil inlet and an oil outlet; the pressure-resistant oil tank comprises a left hemispheroid, a cylindrical barrel and a right hemispheroid, and the two sides of the cylindrical barrel are respectively connected with the left hemispheroid and the right hemispheroid; the telescopic oil pocket comprises an upper end cover, a lower end cover, an outer sleeve, an oil filter and a displacement-type liquid level sensor; the outer sleeve is respectively connected with the upper end cover and the lower end cover; the oil filter is fixed on the lower end cover; the displacement-type liquid level sensor is arranged on the oil filter; and the oil inlet of the control cabinet is connected with the telescopic oil pocket, and the oil outlet of the control cabinet is connected with the pressure-resistant oil tank. The deep-sea oil-pocket buoyancy regulation device of the invention measures the liquid level of the hydraulic oil in the pressure-resistant oil tank by utilizing the ball float-type liquid level sensor, thus having higher measuring precision and no accumulated error.

The system comprises: a body as the main frame, six set of position lock devices arranged round the body, a buoyancy regulation device on bottom center, some lifting devices, and an experimental mooring device on center of main frame top surface. This invention can meet deep-sea testing request.

The invention discloses a stagewise buoyancy drive heavy-load underwater vehicle. The stagewise buoyancy drive heavy-load underwater vehicle comprises a heaving line, a bow outer shell, a front cabinsection, a middle cabin section, a rear cabin section, an antenna cabin section, a tail rudder section and a tail propeller, wherein the heaving line, the bow outer shell, the front cabin section, themiddle cabin section, the rear cabin section, the antenna cabin section, the tail rudder section and the tail propeller are sequentially arranged from front to back. A front buoyancy adjusting moduleand a transverse propeller are arranged in the front cabin section, and a power module, a control module and a posture adjusting module are arranged in the middle cabin section. A rear buoyancy adjusting module is arranged in the rear cabin section, and two gliding wings are arranged on the two sides of the rear cabin section. A wireless communication antenna and an iridium satellite and Beidou antenna are arranged on the upper portion of the antenna cabin section, and a load rejection module is arranged on the lower portion of the antenna cabin section. A cross-shaped rudder mechanism is arranged in the tail rudder section. The tail propeller is mounted behind the tail rudder section. The heaving line is located at the foremost end of the bow outer shell and connected with the bow outershell through a bolt. All stages of oil pumps of the two buoyancy adjusting modules can be simultaneously switched on, the oil drainage time and the oil return time of the vehicle are shortened, and the gliding performance of the vehicle is improved.

The invention discloses a bidirectional volumetric buoyancy adjusting device which comprises a main body fixing cylinder, adjusting modules and a control module. The adjusting modules are used for adjusting the drainage volume of the buoyancy adjusting device, and the adjusting modules comprise a first adjusting module and a second adjusting module; the first adjusting module and the second adjusting module have the same structure and are symmetrically arranged on the main body fixing cylinder; the first adjusting module and the second adjusting module work independently. The buoyancy of the device can be changed under the condition that the gravity center is not changed through independent or common cooperative work of the first adjusting module and the second adjusting module, the gravity center of the device can also be adjusted under the condition that the buoyancy is kept unchanged, the buoyancy can be continuously adjusted after the gravity center is adjusted, and double and continuous adjustment of the buoyancy and the gravity center is achieved. And the device obtains high stability underwater, and is suitable for a complex underwater working environment. The invention further discloses a testing device and a testing method for testing the bidirectional volumetric buoyancy adjusting device.

The invention discloses an amphibious robot, which comprises a body frame, a walking leg unit, a swimming leg unit, a buoyancy cabin and an electronic cabin. The walking leg unit comprises three pairsof six walking legs which are connected to the body frame in a radial mode; the swimming leg unit comprises swimming legs arranged at the tail end of the body frame in pairs; the buoyancy cabin is arranged on the lower part of the body frame, and floating or sinking of the amphibious robot is achieved through water pumping and draining; and a control module in the electronic cabin controls the movement postures of the walking leg unit and the swimming leg unit and the water pumping and draining actions of the buoyancy cabin according to a received instruction, the amphibious robot operation posture provided by a sensor module and land and water environment information to which the amphibious robot belongs. In water, two driving modes are provided for providing advancing power for the amphibious robot, and one driving mode is achieved through swinging of the swimming leg unit; and the other mode is that the gravity center of the amphibious robot is changed through buoyancy adjustment of the buoyancy cabin in cooperation with front-back swinging of the walking legs to achieve low-energy consumption and long-distance gliding migration of the amphibious robot.

The invention discloses a self-propelled marine visual grab bucket and a sampling ship adopting the same. The self-propelled marine visual grab bucket comprises a grab bucket installation main body and two grab buckets symmetrically hinged to the lower part of the grab bucket installation main body, wherein a sealed cabin is arranged at the upper part of the grab bucket installation main body; anupper submersible propeller is horizontally arranged on each of two opposite external side walls of the sealed cabin; a circumferential propeller is vertically arranged at each of four side edges of the sealed cabin; a buoyancy control device, a pressure compensation device and a grab bucket hydraulic system which is connected with a grab bucket opening and closing hydraulic cylinder are arrangedin the sealed cabin. According to the self-propelled marine visual grab bucket and the sampling ship adopting the same, signals collected by a camera and a deep-sea sensor are transmitted to a controlroom through an armored cable, so that workers can observe and detect a sampling area firstly, the position and posture of the grab bucket are adjusted by regulation and control of a computer controlsystem and an operator, the current impact resistance capability of the device is improved, and the operation stability and reliability of the grab bucket are improved.

The invention discloses a compact and modular ocean temperature difference energy driven buoyancy adjusting device. The compact and modular ocean temperature difference energy driven buoyancy adjusting device comprises a buoyancy adjusting hydraulic unit and an ocean temperature difference energy capture converter. The main structure of the buoyancy adjusting hydraulic unit is composed of an oil tank end cover, an oil tank pipe shell, a long cylinder pipe wall, a valve block end cover and a flow guide cover. An internal hydraulic system of the buoyancy adjusting hydraulic unit is composed of an inner leather bag, an outer leather bag, an energy accumulator, an electromagnetic valve, a one-way valve, a cabin penetrating cable, a valve block, a pressure sensor, hydraulic steel pipes and connectors, wherein the hydraulic steel pipes and the connectors are arranged between hydraulic devices. The ocean temperature difference energy driven buoyancy adjusting device serves as an independent modular unit and can be externally carried by an existing underwater vehicle platform, the ocean temperature difference energy driven buoyancy adjusting device captures ocean temperature difference energy and converts the ocean temperature difference energy into hydraulic energy in the submerging and floating process along with submerging and floating of an underwater vehicle, and meanwhile buoyancy adjusting energy is provided for the vehicle.

The invention provides a water hydraulic system of a multifunctional submersible. The water hydraulic system comprises a power source, a flotage and posture regulating mechanism and an operating mechanism, wherein the power source mainly comprises a motor, a hydraulic pump and a solenoid directional valve; the flotage and posture regulating mechanism mainly comprises a plurality of water ballast tanks and balanced valves; through injecting water into and draining off water from different tanks, not only the flotage regulation on the submersible is realized, but also trim control and heel control are realized, so that the single independent systems for flotage regulation and trim and heel control are integrated into a unified system; and in addition, under the matching of all the valves, the operating mechanism can be driven to finish underwater operation. The water hydraulic system can provide water sources of different flow and pressure so as to meet the requirements of different types of working tools on the power source; and meanwhile, the water hydraulic system enables flotage regulation and trim and heel control to have different performances in different water depths, namely the water hydraulic system can meet deep-depth applicability and shallow-depth fast response.

The invention discloses a buoyancy adjusting device of an AUV (autonomous underwater vehicle) and a control method. The device mainly comprises a bow pressure-resistant fuel tank (8), a storage battery (2), a depthometer (3), a controller (4), a radio station (5), a Beidou satellite positioning system (6), an inertial navigation system (7), a stern pressure-resistant fuel tank (1), an oil bag (9)and a combined antenna (10). Under conditions of known water area depth and underwater environment, rapid upward floating and diving of the AUV are realized by effectively adjusting volume of the oilbag of the AUV and posture of the AUV during upward floating and diving. The designed unpowered vertical snorkeling structure has the advantages as follows: incident flow area of a vertical plane is reduced during upward floating and diving, then vertical resistance is reduced, under the condition of certain buoyancy, rapider upward floating and diving can be realized and energy consumption is reduced, so that the purpose of prolonging underwater working time of the AUV is achieved finally.

The invention provides a buoyancy regulating system for a micro underwater robot and belongs to the field of underwater robots. The buoyancy regulating system for the micro underwater robot comprisesa buoyancy regulating part and a buoyancy leveling part; a motor shaft of the buoyancy regulating part is connected with a small gear; the small gear is engaged with a big gear; the big gear is connected with a lead screw; the lead screw is fixedly connected with a piston; a lead screw nut is connected with a big limiting piece and a direct small potentiometer; a piezometric tube for a piston cylinder bottom cover is connected with a filter; and a lead screw nut of a lead screw motor of the leveling part is connected with a small limiting piece, a big potentiometer and a balancing lead block.The buoyancy regulating system for the micro underwater robot has the advantages that the gear can be connected with the lead screw to directly drive the piston to move by using the mechanical regulating mode; the structure is compact and simple; and the water absorbing capacity and the water displacement can be accurately metered by using the small potentiometer to accurately control the buoyancyregulation. The leveling part balances the posture change caused by water absorption and water displacement through the movement of the balancing lead block so that the posture of the whole underwater robot is not affected.

The invention provides a dredging robot for underwater dredging operation. The dredging robot comprises a main body frame, supporting legs, supporting leg hydraulic cylinders, an abdominal supportingplate, a belly hydraulic cylinder, a forearm truss, a rotating frame, a heaving hydraulic cylinder, a swinging hydraulic cylinder, a mud shoveling plate, a mud pump, a hose, a cutter suction mechanismand a buoyancy adjusting mechanism, wherein the walking action is completed by means of the four supporting legs and the belly supporting plate of the dredging robot; sludge can be directly cleaned at the water bottom; the dredging robot can work in more complex terrains; the supporting legs swing forwards in a supporting state of the abdominal supporting plate, the supporting leg hydraulic cylinders enable the gravity center of the robot to move forwards in the supporting state of the supporting legs, and the periodic movement enables the dredging robot to complete walking action. By controlling the telescopic length of piston rods of the heaving hydraulic cylinder and the swinging hydraulic cylinder, the dredging frame can rotate within a certain angle range, and the working range of the cutter suction mechanism is enlarged; and the buoyancy adjusting structure changes the weight of the robot by controlling the volume of water in the water ballast tank, so that the robot sinks or floats in the water.

The invention relates to the technical field of deep-sea culture, in particular to an assembled stable sinking and floating deep sea culture net cage and a using method thereof. The assembled stable sinking and floating deep sea culture net cage comprises a frame system, a buoyancy adjusting system, an auxiliary buoyancy stabilizing system, an anchoring system, an inner and outer net system, a netcleaning system, an underwater measurement and control and oxygenation system and a fish collecting system. The culture net cage has the advantages that the assembled structure is beneficial to standardized manufacturing and installation and facilitates corrosion prevention and maintenance; the stability during sinking and floating is enhanced by using a method of adjusting and controlling auxiliary buoyancy; layered culture is conducted, and a three-dimensional food chain and a culture ecological chain are constructed; remote management and control can be realized through a mobile terminal according to real-time data of an Internet of Things management system and a water area information acquisition center; buoyancy is adjusted by adjusting the water amount, sinking and floating are controlled, and regular net cleaning and maintenance are facilitated; dissolved oxygen is supplemented layer by layer, so that the culture density can be multiplied; and fish automatically swims into a cabin along a fish collecting water slideway, so that the manual operation cost is greatly reduced.

The invention discloses a Maxwell effect-based autonomous underwater vehicle, comprising a body, a buoyancy regulation system, a navigation and control system, a measurement and communication system,a power supply system and a drive system, wherein the buoyancy regulation system comprises first water tanks, second water tanks, a first converter, a second converter and a permanent magnet. The Maxwell effect-based autonomous underwater vehicle utilizes the electromagnetic induction effect in the Maxwell effect to perform buoyancy regulation, and only adopts the electromagnetic induction effectas the power output to regulate the water intake and drainage of the water tanks inside the body, thus the navigation state of the vehicle can be adjusted, the structure is simple, the complexity of the buoyancy regulation device of the conventional vehicle is broken through, the flexibility of the vehicle is also improved, the energy consumption is reduced, and long-term underwater survey operations can be achieved.

The invention relates to marine shallow water monitoring and working equipment, and more particularly to a working-grade underwater robot. The robot uses multiple designed bellows balance assembly structures to change the buoyant center position and buoyance magnitude of the equipment and realize the pitching and rolling movement and the up and down movement, an underwater snorkeling state can be maintained; compared with the congeneric underwater robot capable of performing buoyance adjustment, the working-grade underwater robot removes a heavy and complicated compression structure, and has the characteristics of accurate adjustment, large adjusting variable and quick response. When the robot is applied to the field of aquaculture, various demands of carrying out round-the-clock underwater monitoring on a net cage, detecting the breakage situation of the net cage and the residue situation of bait in the net cage, carrying out sick aquatic product sampling, detecting the change of the water temperature and water quality parameters, and the like are met, and the working-grade underwater robot has extremely high equipment usage frequency and good application prospect.

The invention provides an offshore multifunctional intelligent fishing system. The offshore multifunctional intelligent fishing system comprises a water surface console, a crane, an umbilical cable winch, an ROV carrier, a buoyancy adjusting device and a capturing device. The water surface console is connected with and controls the crane and the umbilical cable winch; the umbilical cable winch isconnected with the ROV carrier through an umbilical cable; the buoyancy adjusting device comprises a buoyancy material, a buoy, a sea water pump and a control valve bank, underwater buoyancy and a floating state are adjusted through the sea water pump, and attitude control is conducted on the ROV carrier; the capturing device is connected with the ROV carrier and grabs a salvaged object to be conveyed to the ROV carrier. The system is suitable for salvaging and recovering a UUV and other objects floating in water, is also suitable for searching and salvaging seabed fixed target objects, can beused as a comprehensive underwater operation platform, and achieves the detection, maintenance and rescue of an underwater ship body or seabed.

The invention provides a drainage type buoyancy regulating device. The buoyancy regulating device comprises a motor bracket, a motor, a band-type brake machine, a coupling, a ball screw, a ball screw pair, end covers, a sliding screw, ripple sacs, bearings, press covers, fastening nuts, small sealing rings, a connector, large sealing rings and sealing pressure strips. According to the drainage type buoyancy regulating device provided by the invention, seawater in the ripper sacs can be easy to drain, and the drainage volume change of an underwater glider is realized, so that the buoyance is regulated. The drainage type buoyancy regulating device has the advantages of being simple in structure, easy to operate, small in occupied space, good in reliability and the like.

The invention relates to the field of underwater detection devices, in particular to a portable multifunctional stereo water quality detection device which comprises a bow module, a steering module, abuoyancy regulation module, a gravity center regulation module, a control navigation module, a sensor module and a stern module, wherein the bow module is provided with an altimeter, an illuminationlamp and a camera; the steering module is provided with a bow propeller; the stern module is provided with a stern propeller; the buoyancy regulation module is internally provided with a regulation cavity; the gravity center regulation module is provided with a battery suit; the buoyancy regulation module is internally provided with a clear water cavity and a regulation cavity which are separatedfrom each other by a diaphragm; the regulation cavity is communicated with the external; the clear water cavity is internally provided with clear water and a piston; the gravity center regulation module is internally provided with a drive device, a ball screw and a battery suit; the ball screw is driven by the drive device to rotate; and an end plate at one end of the battery suit is provided witha ball nut seat to be installed on the ball screw in a sleeving manner. The portable multifunctional stereo water quality detection device provided by the invention is convenient to assemble and disassemble, can accurately regulate the posture to lower the resistance and effectively reduces the size of the device.

The invention solar energy controlled buoyancy automatically keep-balance helium-gas airship, which has a buoyancy device using air balloon lighter than air to generate buoyancy; a propulsion device, a manned or manned / luggage device, and a buoyancy control device. The invention at least has two groups of buoyancy gas containers-soft balloon or balloon-rigid balloon, while different balloon groups are connected by tubes; the tubes have been connected with pressure pump in series comprising inflator and charge / release valve; the invention uses the inflating balloon to generate buoyancy, while the buoyancy gas has different pressure and density distribution in different balloon groups via the function of inflating pump to realize the automatic control on the buoyancy; the buoyancy regulation is realized by adjusting the density and pressure distribution between each group of balloon via the electric control system; the invention has a adjust-flying airflow pump to realize automatic balance, while its outlets are distributed all around the aerobat via the outlet channels and branches. The invention has lower cost, environmental-friendly energy and better safety.

The invention provides an autonomous depth-fixed suspension underwater acoustic remote-control transmitting device which comprises a main floating body, a buoyancy force adjusting device, a CTD (conductive Temperature Depth) sensor, a comprehensive controller, an encoder, a power amplifier, a transmitting transducer, an anti-collision sonar and a power manager, wherein the other components are installed in a watertight cabin in the main floating body; the CTD sensor is used for synchronously measuring depth and sound velocity and sending a measuring result to the comprehensive controller; the comprehensive controller is used for receiving the depth and sound velocity measured by the CTD sensor, judging whether thermocline exists according to the relationship that the sound velocity changes with the depth, selecting the transmitting depth of remote control signals according to a judgment result and sending a selecting result to the buoyancy force adjusting device, and is also used for controlling the encoder to generate remote control encoding signals. After the autonomous depth-fixed suspension underwater acoustic remote-control transmitting device is arranged, completely autonomous depth-fixed suspension operation can be achieved, appropriate remote control signal transmitting depth can be automatically selected, and thermocline under a severe hydrologic condition can be avoided so as to reduce sound transmission loss.

The invention provides a buoyancy adjusting device and method, and belongs to the technical field of buoyancy adjusting. The buoyancy adjusting device comprises a water-tight compressive cabin, a buoyancy conversion device arranged in the water-tight compressive cabin, and a power control system; the buoyancy conversion device comprises an outer oil bag and an inner oil bag which are separated inthe vertical direction; the outer oil bag is internally provided with an outer piston, the inner oil bag is internally provided with an inner piston, and the outer piston and the inner piston are connected through a piston rod so that synchronous movement can be achieved; and the outer oil bag and the inner oil bag communicate with a power control system through pipelines so that the hydraulic oilvolume distribution ratio of the outer oil bag and the inner oil bag can be adjusted. According to the buoyancy adjusting device and method, both the outer oil bag and the inner oil bag are of rigidstructures, movement and distribution of hydraulic oil in the outer oil bag and the inner oil bag are changed through constraint of the rigid structures all the time, changing of the shape of the hydraulic oil is approximate to changing of the linear relation of a rigid body in the regular shape, and thus, changing of the center of mass of the buoyancy adjusting device is regular, predictable andcontrollable.