1100 results about "Deep sea" patented technology

The invention relates to a deep sea manned submersible unsupervised anomaly detection method and system based on multi-modal feature fusion, and the method comprises the steps: carrying out the initial feature extraction of preprocessed multi-modal signal data, and obtaining a local time sequence feature; performing multi-scale frequency domain enhancement on the local time sequence characteristics through a frequency domain enhancement module to obtain frequency domain enhancement characteristics; performing long-term dependency relationship modeling on the frequency domain enhancement features to obtain long-distance dependency features; performing context enhancement on the frequency domain enhancement feature by using a fusion type attention coding module to obtain a coding feature; performing multi-modal feature fusion on the frequency domain enhancement feature, the long-distance dependence feature and the coding feature to obtain a fusion feature; performing state modeling on the fusion features to obtain global hidden state features, and performing reconstruction restoration on the global hidden state features to obtain reconstruction output; and carrying out parameter optimization by adopting a joint loss function, and carrying out continuous iterative training to obtain a trained anomaly detection model.

The invention discloses a floating wind power platform self-energized carbon capture and deep sea sealing integrated system, which comprises a floating platform foundation, which comprises a plurality of buoy parts, and the buoy parts are integrated through connecting parts; the double-path carbon capture subsystem comprises an air carbon capture module and a seawater carbon capture module; the air carbon capture module introduces air into the adsorption module through negative pressure, and selectively adsorbs CO2 in the air; the seawater carbon capturing module is used for separating out CO2 from seawater in an electrochemical separation mode; the carbon sequestration subsystem is used for compressing, liquefying and sequestration the CO2 conveyed by the double-path carbon capture subsystem; and the wind power function subsystem comprises a wind power generation tower and power distribution equipment for supplying power to each subsystem. The platform is reasonable in configuration and high in function integration degree, has the advantages of wind energy driving, autonomous operation, continuous carbon capture, on-site storage and the like, is particularly suitable for deep and far sea areas without seabed pipe networks and far away from shore-based power grids, and can be used for application scenes such as wind power plant carbon compensation and ocean carbon removal.

The invention discloses a method for completing an autonomous deep-sea exploration task by a deep-sea cross-domain unmanned aerial vehicle. The method comprises the following steps: determining a target area; taking off to a specified height from the sea level, receiving a task execution command and then flying to a target area; when the relative distance between the current position and the coordinates of the target area reaches a preset value, descending; when it is detected that the device is contacted with seawater, the device dives through gravity; when it is detected that the set depth is reached, the propeller is restarted, and the detection task is executed; after the detection task is completed, the standby battery is rejected and ascends; after leaving the water surface, rising to a specified height and switching to a homeward flight mode; and when the deep-sea cross-domain unmanned aerial vehicle is within the sight distance range, a manual landing task is executed. The invention further discloses the deep-sea cross-domain unmanned aerial vehicle. According to the unmanned aerial vehicle and the method, autonomous switching operation between an air medium and an underwater medium can be realized, and the unmanned aerial vehicle has the capability of autonomously completing detection and water body sampling in an extreme deep sea environment.

The invention discloses a deep sea underwater integrated electro-hydraulic actuator system adopting pump and valve combination. The deep sea underwater integrated electro-hydraulic actuator system comprises a hydraulic cylinder, a pump control assembly and a valve control assembly. The pump control assembly comprises a metering pump, a first switch valve and a second switch valve; the valve control assembly comprises a large-flow proportional valve, a small-flow proportional valve, a deep sea compensation energy accumulator and a third switch valve. The metering pump, the first switch valve and a rod cavity of the hydraulic cylinder are sequentially connected through a pipeline, the metering pump, the second switch valve and a rodless cavity of the hydraulic cylinder are sequentially connected through a pipeline, the metering pump, the third switch valve and the deep sea compensation energy accumulator are sequentially connected through a pipeline, and the rodless cavity of the hydraulic cylinder is connected with the large-flow proportional valve and the small-flow proportional valve through pipelines. Two control modes of the actuator can be completed, large-flow control is achieved through the pump control assembly, high efficiency and energy conservation are achieved, flow needed by maintenance is supplied to a rodless cavity of the actuator through the valve control assembly via the large-flow proportional valve and the small-flow proportional valve, and posture keeping and emergency action are achieved.

The invention provides a Yangtze river export deep and far sea environment data association analysis method based on multi-modal fusion, belongs to the technical field of far sea environment analysis, and achieves accurate data registration by establishing a multi-source data space-time standardization model and adopting an adaptive space-time Kriging interpolation algorithm. A sparse coding ocean signal separation algorithm is utilized to construct an over-complete dictionary separation mixed signal to extract pure features, a feature extraction network is constructed based on an attention mechanism to automatically learn deep feature representation of physicochemical biological parameters, and a matrix rank loss detection algorithm is adopted to automatically supplement feature compensation vectors to ensure feature integrity. A cross-scale attention mechanism is constructed based on wavelet transform to fuse multi-scale features, a Shapley value interpretability evaluation system is established to quantify correlation feature importance, and the technical problem that correlation feature extraction is inaccurate in the multi-source heterogeneous marine environment data fusion process is solved.

The invention relates to the technical field of deep-sea mining, and discloses an extrusion rotary type deep-sea multi-metal nodule low-disturbance collecting device which comprises a set of skid mechanisms formed by all-terrain skid plates arranged side by side, all-terrain skid plates are connected with direction skid through steering pull rods, each skid mechanism is provided with a grating storage cabin, and the grating storage cabins are connected with the all-terrain skid plates through steering pull rods. The inlet end of each grid storage bin is connected with a grid pressing shovel installed on the skid mechanism through a rotary collecting head. According to the invention, the all-terrain skid plates are used as walking mechanisms, so that low-disturbance advancing can be realized on one hand when the multi-metal nodules are collected by walking, and on the other hand, the advancing direction and operation attitude can be adjusted in real time by the cooperation of the multiple groups of all-terrain skid plates, so as to meet different collection requirements of the multi-metal nodules; meanwhile, a combined structure of the grating pressing shovel, the rotary collection head and the grating storage cabin is taken as a core, so that the multi-metal nodule in a buried or semi-buried state can be shoveled up in a low-disturbance manner, and environment-friendly collection is realized.

The invention relates to the technical field of wireless charging, in particular to an underwater magnetic coupling resonant wireless power transmission voltage stabilization control system and method, and the system comprises a transmitting end which comprises a power supply, an inverter circuit, a transmitting end compensation network and an array type orthogonal magnetic coupling device, and the array type orthogonal magnetic coupling device comprises four DD type coils, the DD type coils are alternately wound to generate a horizontal magnetic field and a vertical magnetic field; the receiving end comprises a biorthogonal coil, a receiving end compensation network, a rectification filtering module and a converter; the biorthogonal coil receives energy of the horizontal magnetic field and the vertical magnetic field; the linear active disturbance rejection control module comprises an extended state observer and a linear feedback control rate, the extended state observer is used for estimating the total disturbance of the system in real time and performing feed-forward compensation, and the linear feedback control rate realizes voltage stabilization by adjusting the duty ratio of the converter. The system adapts to a deep sea complex environment, and the cruising ability of the AUV is improved.

The invention discloses a multi-mode underwater acoustic communication system and communication method based on a heterogeneous dual-core architecture, and belongs to the technical field of underwater acoustic communication. The multi-mode underwater acoustic communication system comprises a main control module, an acquisition module and a transmitting module; the main control module adopts a dual-core heterogeneous processor OMAPL138 formed by an ARM core processor and a DSP core processor; inter-core communication is carried out between the ARM core processor and the DSP core processor through a shared memory and interruption; the ARM core processor is responsible for protocol analysis, task scheduling and man-machine interaction, and the DSP core processor focuses on signal processing and real-time control and integrates four communication systems, a channel evaluation module and the like. The problems that application of a single communication mode is limited and underwater acoustic communication links in different complex sea areas are unstable are effectively solved, and the deep sea area underwater vehicle information collaboration and return and deep sea area observation and monitoring network system capacity are effectively improved and guaranteed.

The invention discloses a wave-current combined simulation system and method in a low-pressure environment, and relates to the technical field of underwater vehicle hydrodynamic model tests. The defects that in the prior art, sealing and strength are difficult to guarantee in a low-air-pressure environment, and accurate flow velocity and shear gradient control of a multi-layer flow channel cannot be achieved are overcome. According to the technical scheme, the device comprises a low-pressure pool, a plurality of layers of layered water inlet galleries, a plurality of layers of layered water outlet galleries, a rectifying wall, a rectifying baffle, a flow guide grid, a wave absorbing bank, an in-cabin rocking plate type wave maker, a plurality of bottom flow making pump flow making systems, an electric butterfly valve, a high-voltage frequency conversion cabinet, a three-phase asynchronous motor, a gear box, an impeller shaft system and the like. All the devices work cooperatively, and accurate coupling simulation of a multi-layer flow field and high sea condition waves under low air pressure is achieved. The device is suitable for wave-current combined hydrodynamic characteristic simulation and test research of deep-sea navigation bodies and ocean engineering equipment in a low-pressure environment.

The invention provides a driving and sensing integrated soft claw, gripper and method, and belongs to the field of deep sea soft grippers. The problems that a traditional soft gripper sensor is prone to forming stress concentration and cannot achieve multi-point sensing are solved. The driving and sensing integrated soft claw comprises a sensing layer, an acoustic wave guide main flow channel extending in the length direction is arranged on the sensing layer, and an ultrasonic transducer is arranged on the side, close to the fixed end of the sensing layer, of the acoustic wave guide main flow channel. The end face of one side of the sensing layer is a grabbing face, and a plurality of evenly-arranged protrusions are arranged in the acoustic wave guide main flow channel corresponding to the end face. And the driving layer is arranged on the side, away from the grabbing face, of the sensing layer, a plurality of deformation cavities communicating with the acoustic wave guide main flow channel are formed in the driving layer, the driving layer is in a stretching state in a normal state, and when the deformation cavities are filled with liquid and pressurization continues, the deformation cavities are used for deforming to drive the sensing layer to bend. The manipulator is mainly used for grabbing actions.

The invention relates to the technical field of trailing cables, and discloses a high-tensile-strength lightweight deep sea trailing cable, which is characterized in that the outer side of a copper conductor is coated with an insulating layer, the periphery of an inner support piece is coated with a heat dissipation layer capable of uniformly transferring heat, the outer side of the heat dissipation layer is provided with a waterproof layer capable of blocking and preventing water, the waterproof layer is embedded in the inner side of a tensile inner layer, and the tensile inner layer is provided with a waterproof layer. According to the invention, the heat transfer and heat dissipation capability in the cable is effectively improved, the passive water blocking and active water stopping capability in the cable is enhanced, the tensile inner layer endows the cable with excellent tensile strength, and the pressing layer greatly improves the pressure resistance and compression resistance of the cable, so that the cable has the capability of stable operation in severe environments of high pressure and low temperature in deep sea, and the service life of the cable is prolonged. In addition, a light-weight fiber material is used for replacing a traditional metal material, the high tensile property is guaranteed, meanwhile, light weight of the cable is achieved, the dragging resistance is reduced, and the comprehensive use requirement for high tensile strength and light weight is met.

The invention provides an all-dimensional multi-layer connecting belt lifting anti-storm deep sea net cage, and relates to the technical field of aquaculture equipment.The all-dimensional multi-layer connecting belt lifting anti-storm deep sea net cage comprises a net cage body and a positioning mechanism used for positioning and installing the net cage body, and the positioning mechanism comprises an annular top frame and a top air bag arranged on the top frame and used for enabling the top frame to float on the water surface; the top frame is connected with a plurality of anchor bodies through a plurality of anchor ropes, each anchor body is anchored to the seabed, a plurality of rails are vertically arranged at the bottom of the top frame, and the rails are arranged in an annular array; the net cage body is arranged between the rails and can move up and down along the rails within the length range of the rails. The net cage aims to solve the technical problems that an existing deep sea net cage is poor in wind wave resistance and prone to damage, the breeding space is of a single-layer structure, the utilization rate is low, and surface environment risks cannot be effectively avoided.

The invention discloses a method for dynamically evaluating the ultimate bearing capacity of a layered damage composite material cylindrical pressure-resistant shell in the field of deep sea equipment structure health monitoring, which comprises the following steps of: establishing a nonlinear relationship between a critical buckling load of an unlayered composite material cylindrical shell and a critical buckling load of a layered composite material cylindrical shell, and calculating an attenuation coefficient of each group of samples; measuring inner and outer layer strain values of the to-be-evaluated composite cylindrical shell, detecting extreme value statistics and cumulative sum based on change points of the inner and outer strain values, judging that the position of the point is layered, constructing a layering point set, calculating five layering characteristic parameters of the to-be-evaluated composite cylindrical shell based on the layering point set, and substituting the five layering characteristic parameters into an attenuation coefficient formula, obtaining a critical load of the to-be-evaluated composite cylindrical shell; according to the method, through combination of dual-surface strain cooperative monitoring and a regression model, prediction of critical buckling loads in a service state is realized, environments such as shell thickness fluctuation, salt spray corrosion, interface fracture parameter measurement errors and impact loads are compatible, strain gauge monitoring and limit load online evaluation are fused, and a dual evaluation system is formed.

The invention relates to the technical field of deep-sea polymetallic nodule resource assessment methods and systems, provides a deep-sea polymetallic nodule resource assessment method and system, and effectively solves the problems that overlapped areas among polymetallic nodules are easy to cover by silt, are located at the edge parts of the polymetallic nodules, are fused with a seabed background, and are not easy to damage. And complete filling cannot be performed through an expansion algorithm, so that the accuracy of the finally calculated coverage rate is not high.

The invention relates to a three-dimensional sea temperature monitoring method, and the method comprises the steps: predicting a residual error through a sea surface temperature reconstruction model based on low-resolution sea temperature background data, meteorological data and geographic feature data of a to-be-monitored sea area, superposing the residual error with the low-resolution sea temperature background data, and obtaining a high-resolution sea temperature parameter of each region of a sea surface; and the precision and the physical consistency of the sea surface temperature parameters are improved. In deep sea temperature inversion, based on biochemical environment data and high-resolution surface sea temperature parameters, sea temperature parameters of all depth areas of a sea area to be monitored are predicted through a deep sea temperature prediction model, and a heat exchange rule is reflected more accurately. According to the method, surface reconstruction and deep inversion are combined, an association connection mechanism is established, information collaborative integration is achieved, complete and coherent three-dimensional sea temperature data are output, and reliable support is provided for applications such as ocean heat transfer calculation.

The invention relates to the technical field of communication power connection, in particular to a magnetic coupling connector assembly for deep sea wet plugging, which comprises a socket component and a plug component, wireless power supply coils and communication modules are arranged at the front ends of the socket component and the plug component, and a first annular magnet array is arranged at the front end of the socket component. A second annular magnet array is arranged at the front end of the plug component, and magnetic poles at the same position of the first annular magnet array and the second annular magnet array are oppositely arranged; and a rotary locking mechanism is arranged between the socket component and the plug component and is used for realizing mechanical locking through relative rotation after the socket component and the plug component are magnetically adsorbed. By adopting the design that the annular multi-pole magnet array and the mechanical rotary locking mechanism cooperate with each other, magnetic force provides adsorption force during butt joint and is converted into locking force after locking, self-alignment and high-reliability locking in the butt joint process are completed, and the technical effect of environment interference resistance is achieved.

The invention discloses a topographic change uncertainty analysis method based on time sequence sounding data, and relates to the technical field of marine surveying and mapping. According to the method, high-precision seabed deformation sequence data is acquired through time-space reference unification and data fusion correction processing based on multi-beam sounding data acquired by multiple periods and multiple platforms, and the influence of terrain gradient, seawater depth and the coupling effect of the terrain gradient and the seawater depth on the sounding uncertainty is systematically and quantitatively analyzed; comprehensively considering a coupling effect relationship between water depth and terrain gradient, combining horizontal uncertainty information obtained by the gradient-uncertainty statistical model with vertical uncertainty information obtained by the water depth-uncertainty statistical model based on an error propagation theory, and establishing a gradient-water depth joint probability statistical model under multi-period data constraint; the statistical separation capability of terrain deformation signals and measurement noise is remarkably improved, real and accurate seabed deformation information can be obtained, and precise detection and dynamic monitoring of seabed micro-landform changes in a complex deep sea environment are achieved.

The invention belongs to the technical field of transducer matching layers, and particularly relates to a high-frequency underwater acoustic transducer matching layer structure for deep sea detection, which comprises an integrated gradient functional material layer, the acoustic impedance of the gradient functional material layer is in gradient change along the sound wave propagation direction, and a pressure self-adaptive microstructure is embedded in the material layer. In the invention, aiming at the problem that a pressure-resistant structure is not designed in a contrast patent, acoustic performance drift caused by deformation under the high pressure of 60MPa is prevented, the negative Poisson's ratio honeycomb substrate expands but does not shrink under the hydrostatic pressure of 60MPa and resists compression deformation, and the pressure response type silicone oil filled in the microsphere system has the advantages that the density is increased along with the increase of the pressure, and the sound velocity change is automatically compensated; and the acoustic impedance fluctuation is relatively small, so that 6000-meter deep-sea long-term operation is supported, the problem of performance degradation of the existing transducer in deep sea is solved, and meanwhile, the micron-sized displacement risk of a filling cone in a contrast patent is avoided.

The invention relates to a multi-domain collaborative ocean emergency rescue method, which solves the technical problems of short endurance, small operation range and low recognition accuracy of persons in distress when an unmanned aerial vehicle or an unmanned ship or an underwater robot is adopted to carry out a search and rescue task in the prior art, and combines the unmanned aerial vehicle, the unmanned ship and the underwater robot for mutual cooperation. The unmanned aerial vehicle carries out investigation traversal in the air to find a search and rescue target, the unmanned aerial vehicle gets close to the search and rescue target and sends the position information of the target to the control center, the unmanned ship sails to the position of the target, the at least two underwater robots are transferred along with the unmanned ship, and the unmanned ship controls the at least two underwater robots to work cooperatively. The method can be widely applied to deep ocean emergency rescue, and an'air-sea-submerged 'multi-domain cooperative new normal form is formed.

The invention discloses a small hole heat conduction and gas migration channel construction system and method based on seabed horizontal directional drilling, and relates to the technical field of ocean engineering and energy exploitation. A sea surface operation module is used for controlling all modules of the system to work cooperatively and supplying energy to the system; the seabed drilling guide module is used for realizing layer-entering drilling and channel pre-construction; the signal detection module is used for monitoring the spatial position and attitude parameters of the seabed drilling guide module in a seabed bottom layer in real time; the small hole perforation flow guide module is used for constructing a heat conduction and gas migration channel network after the drill bit enters a target hydrate layer; after the heat conduction and gas migration channel network is formed, the seabed drilling guide module continues to drill out of the seabed bottom layer, and a channel formed by the seabed drilling guide module is used for dragging a pipeline into a reservoir. A reusable mining channel suitable for the deep sea environment is constructed, the gasification efficiency is effectively improved, and stratum disturbance and energy consumption are reduced.

The invention relates to a pressure-resistant compensation type underwater wet-plugging electric connector socket protection device which comprises a front shell, an outer-layer oil bag and an insulator are arranged in the front shell, the periphery of the insulator is matched and sealed with the front shell, and the front end of the insulator is matched and sealed with the rear end of the outer-layer oil bag; the oil-filled pressure-balanced jack is used for being adaptively plugged with a pin of a protected socket and is positioned and assembled in the insulator, the front end of the oil-filled pressure-balanced jack is positioned in the outer-layer oil bag, and the rear end of the oil-filled pressure-balanced jack extends out of the tail part of the insulator; the front end of the straight sleeve is open and the tail is closed; the front end of the straight sleeve is hermetically connected with the tail part of the front shell, and balance oil is injected into a cavity; the two ends of the inclined sleeve are open, the front end of the inclined sleeve is connected with the straight sleeve in a sealed mode, and a piston is arranged in the inclined sleeve in a sealed mode and can do reciprocating motion under the action of balance oil in the straight sleeve and external water pressure. The pressure-resistant compensation type underwater wet-plugging electric connector socket protection device not only can protect the contact pin of the wet-plugging electric connector socket, but also can meet the pressure requirement brought by a deep sea environment.

The invention discloses a transmission type communication system and method based on low-frequency carrier waves and high-frequency modulation. The transmission type communication system and method are suitable for complex medium environments such as deep sea, strata and biological tissues. Aiming at the contradiction that the traditional low-frequency communication bandwidth is insufficient and the high-frequency communication penetrating power is poor, according to the scheme, a low-frequency carrier wave (30Hz-100kHz) and a high-frequency modulation signal (such as OFDM (Orthogonal Frequency Division Multiplexing) and 256QAM (Quadrature Amplitude Modulation)) are fused through a nonlinear signal superposition technology to generate a composite carrier wave signal, long-distance penetration is realized by utilizing the low attenuation characteristic of the low-frequency carrier wave, and meanwhile, the data rate is improved through high-frequency modulation. Application scenes comprise deep sea detection (300-meter high-definition video return), a brain-computer interface (implantable antenna transmission neural signal) and an intelligent power grid (underground pipe network monitoring). Through the physical layer-information layer collaborative design, the physical boundary limitation of traditional communication is broken through, and high penetrability, high bandwidth and strong anti-interference capability are achieved.

The invention provides a deep-sea large-aperture array deconvolution near-field high-precision direction finding method based on sound velocity correction. According to the method, an equivalent sound velocity mapping table generated by a BELLHOP ray model is established, a sound ray bending effect is innovatively converted into a real-time table look-up correction mechanism, sound velocity correction time delay is injected in beam forming and deconvolution calculation, the problem of PSF distortion of a traditional linear model in a deep sea near field is thoroughly solved, high-precision direction finding and distance measuring are achieved, and the accuracy of direction finding and distance measuring is improved. And a subversive direction finding solution with physical accuracy, algorithm stability and engineering real-time performance is provided for the deep-sea large-aperture array.

The invention discloses a cooperative control simulation system for an underwater robot and an umbilical cable system, belongs to the technical field of ocean engineering simulation and automatic control, and is used for analyzing system dynamic characteristics in the research and development stage of deep sea operation equipment. Comprising an environment initialization and marine environment construction module, a mother ship model construction module, an underwater robot and umbilical cable coupling module, an instruction generation module, a man-machine interaction control module and a data acquisition and storage module. According to the method, an external interference source with physical authenticity is provided for a control algorithm by combining an energy density function and simulating a composite environment modeling method of a sea level height field and an LOD dynamic grid, and a distributed model prediction control algorithm for uniformly optimizing underwater robot trajectory tracking and umbilical cable tension safety maintenance is constructed; data such as the motion state of the underwater robot and the tension of the umbilical cable can be output in real time, algorithm performance testing is completed in a virtual environment, and dependence on high-cost sea testing is not needed.

The invention discloses an oil pressure compensation method and a corresponding device for a deep-sea sound wave signal receiving and transmitting device, and relates to the field of underwater detection.The method comprises the steps that the deep-sea sound wave signal receiving and transmitting device is assembled on a downward detection mechanism, and an oil pressure compensator injects a preset amount of silicone oil into a sealing shell through an oil injection valve; after injection is completed, a downward probing mechanism is started to enable the deep sea sound wave signal receiving and transmitting device to sink in water; in water, the oil pressure compensator carries out compensation calculation on the volume of the silicone oil in the sealing shell based on an integrated PID control-based self-adaptive oil pressure compensation algorithm, and drives the oil injection valve to feed and discharge the silicone oil to the sealing shell, so that the pressure balance inside and outside the sound wave signal transmitting and receiving device for deep sea is kept. Through an oil pressure compensation mode, the sound wave signal transmitting and receiving device for deep sea is protected, and the problems that an existing sound wave signal transmitting and receiving device is prone to deformation and internal elements are damaged in a deep sea high-pressure environment are solved.

To enable high-accuracy calibration, reduction of calibration time, and suppression of increases in power consumption, size, and mass of acoustic lighthouses even when a large number of acoustic lighthouses are installed in deep sea.SOLUTION: An offshore signal processing device 10 transmits and receives acoustic signals to and from a master lighthouse 20, acquires three-dimensional absolute coordinates of the master lighthouse 20 by acoustic positioning, and notifies the master lighthouse 20 of the three-dimensional absolute coordinates. The master lighthouse 20 transmits and receives acoustic signals to and from slave lighthouses 30a, 30b, acquires three-dimensional relative coordinates of the slave lighthouses 30a, 30b by acoustic positioning, and acquires three-dimensional absolute coordinates of the slave lighthouses 30a, 30b from the three-dimensional relative coordinates and its own three-dimensional absolute coordinates notified from the signal processing device 10.SELECTED DRAWING: Figure 1

The invention discloses a land-based data automatic receiving and preprocessing management system and method, and relates to the technical field of ocean observation data processing, and the system comprises a communication service subsystem, a data preprocessing subsystem, an intelligent perception linkage subsystem, and a data management subsystem. And full-process automatic processing of underwater acoustic real-time communication subsurface buoy observation data is realized through modular integration. Automatic receiving, safe storage and efficient preprocessing of deep sea power and biogeochemical element data are achieved, reliable data support is provided for marine scientific research and environment monitoring, and the long-term observation requirement of a 6000-meter water depth subsurface buoy system is met.

The invention provides a pipeline type inrush water magnetic adsorption visual grouting plugging simulation method, which comprises the following steps of: 1, dynamically assembling a modular magnetic rod, sleeving a time sequence functional sleeve, pre-adsorbing a magnetic slurry layer, mounting a long pressure relief pipe with a shunting hole and a rotational flow grouting pipe, and integrally inserting into a pipeline for positioning; 2, high-speed water flow is dispersed through a pressure relief pipe, grouting parameters are dynamically regulated and controlled based on flow state perception, and dynamic balance is maintained through synchronous pressure relief of swirl jet grout; 3, after solidification, scanning through a pressure relief pipe ultrasonic probe, and constructing a three-dimensional density cloud picture to quantitatively evaluate integrity; and 4, the inert film is dissolved by the solvent to activate the lubricating layer, the degaussing coil counteracts the adsorption force, and the hydraulic mechanism axially pulls out the magnetic bar with constant force. The method has the advantages that magnetic flux self-adaption and pressure relief grouting cooperate to solve the flowing water plugging retention problem; high-quality recovery of the magnetic bars is optimized through sequential control; flow state perception and ultrasonic verification double closed loops guarantee the controllability of the plugging quality; the modular fast-assembly architecture supports cross-environment deployment from land karst to a deep sea scene.

The invention belongs to the technical field of pipeline safety assessment, and discloses a multi-dimensional information interconnection and autonomous evolution collaborative pipeline full-state safety assessment method. And capturing a high-order relationship of data through double hypergraph reasoning of the instance-level hypergraph and the modal-level hypergraph to realize efficient interconnection. According to the method, mode-level and instance-level hypergraph information features are extracted through hypergraph information propagation, high-order correlation is mined through double-graph information aggregation, cross-mode and cross-instance consistency information and exclusive information are output after feature recombination, multi-dimensional data deep fusion is promoted, and high-quality data support is provided for follow-up pipeline full-state safety assessment. A two-stage autonomous evolution mechanism of intra-class progressive calibration and inter-class knowledge migration is respectively adapted to slight fluctuation and significant change scenes of the deep sea environment: precise adaptation of environment perturbation is realized through dual-branch feature extraction and dynamic weight adjustment in a domain; model parameter dynamic optimization is completed between domains through spatial-temporal feature clustering and cross-domain knowledge migration, and dynamic environment self-adaption can be achieved without manual intervention.

The invention particularly relates to a deep sea reliable sound path long baseline robust positioning method based on iterative equivalent sound velocity correction, which comprises the following steps: firstly, selecting a coordinate origin, and delimiting a positioning area by taking the coordinate origin as a center; a sonar receiving array is distributed to a proper position, a hydroacoustics numerical calculation ray model is utilized to establish a sound field model according to data such as a sound velocity profile, a target sound source depth and a horizontal distance range, and an equivalent sound velocity table is obtained. Then, inputting an initial equivalent sound velocity vector and an initial relative propagation time vector, and obtaining initial target position estimation by using a hyperbolic intersection method; next, the equivalent sound velocity and the target position are updated through iteration, and an adaptive adjustment item is introduced, so that the convergence and robustness of the algorithm are improved; and finally, judging whether iteration is terminated or not by utilizing a maximum likelihood error function. The method combines the hyperbolic intersection method to efficiently solve and adaptively adjust items, is high in positioning precision, is high in calculation efficiency, and is suitable for underwater real-time high-precision positioning tasks.