57 results about "Deep-sea exploration" patented technology

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 relates to the technical field of underwater static target object detection and processing, in particular to an unmanned cross-domain positioning and acoustic fingerprint processing method and system for an underwater static target. Comprising the following steps: performing wide-area scanning on a task sea area, and scheduling an AUV and unmanned aerial vehicle cluster to a target area after discovering a suspicious target; the unmanned aerial vehicle cluster receives an acoustic signal of the AUV and transmits the acoustic signal to the cooperative resolving center in combination with self-positioning data so as to provide accurate coordinate guidance for the AUV; the AUV sails to a target area, parallel processing map construction and accurate positioning, target identification and dual-mode fingerprint generation are carried out, and a target task package is packaged; the ROV receives and analyzes the task packet, autonomously plans a path and sails to a target area, a sonar is started to collect data and generate real-time feature fingerprints, and the real-time feature fingerprints are matched with fingerprints in the task packet; and after matching succeeds, a specific job task is autonomously executed. According to the invention, a complete automatic solution is provided for scenes such as deep and far sea detection, emergency salvage, pipeline maintenance and the like.

The invention provides an underwater positioning system based on effective sound velocity compensation and multipath equalization, which relates to the technical field of marine equipment and comprises an environment sensing and modeling module, a signal propagation characteristic analysis module, an intelligent signal processing and distance measuring module and a fusion positioning and quality evaluation module. The environment sensing and modeling module is used for constructing a dynamic three-dimensional sound velocity field and evaluating the reliability of the environment, the signal propagation characteristic analysis module is used for establishing a multi-path propagation model and extracting path characteristic parameters, and the intelligent signal processing and distance measuring module is used for suppressing multi-path interference and realizing high-precision distance measuring calculation. The fusion positioning and quality evaluation module is used for multi-source information fusion positioning and forming a quality feedback closed loop; the system can effectively cope with sound velocity temporal and spatial change and multipath interference in a complex marine environment, remarkably improves the precision, stability and robustness of underwater positioning of the underwater vehicle, and is suitable for the fields of deep sea detection, ocean engineering and the like.

The invention discloses a deep-sea exploration air gun array arrangement optimization method and system for improving wavelet quality, and relates to the field of deep-sea resource exploration. The problem of rapid optimization design of the air gun array in the existing engineering is solved. The method comprises the following steps: inputting initial information parameters of an air gun array, and obtaining air gun bubble pressure wavelet data and sound pressure level spectrum data before optimization based on an air gun bubble dynamics mathematical physical model; establishing upper and lower limits of the air gun sinking depth and constraint conditions of an air gun volume change range; setting an optimization objective function and optimization control parameters; performing iterative optimization on the array in combination with a spherical bubble dynamics theory and a particle swarm optimization algorithm; calculating an air gun array pressure wavelet and a sound pressure level frequency spectrum, if a calculation result meets a requirement, obtaining air gun array information optimized based on a particle swarm algorithm, calculating the pressure wavelet and the sound pressure level frequency spectrum, outputting the optimized air gun array information, and realizing air gun array inversion optimization; and if the requirements are not met, continuously carrying out iterative optimization on the array.

The invention relates to the technical field of steel wire rope detection, in particular to a deep sea exploration steel wire rope bending friction fatigue test device and method, a steering wheel is located at the upper end of a gap between a long wheel belt and an inner rail, a steel wire rope is attached to the arc outer wall of the steering wheel to smoothly extend, and a detection box is filled with seawater with the liquid level not higher than the lower end face of a cross beam; the long wheel belt and the inner rail are respectively provided with a wire groove, the outer diameter of the wire groove is larger than that of the steel wire rope, and a coral rock simulation layer or a rubber water belt is arranged in the wire groove. Friction is simulated through contact between the steel wire rope and the coral rock, and then bending and friction tests of the steel wire rope in a deep sea environment are simulated through reciprocating traction of the steel wire rope, so that the accuracy of simulation detection is improved, and the use safety of the steel wire rope is ensured.

A method and system for optimizing the arrangement of deep-sea exploration airgun arrays for improving wavelet quality relates to the field of deep-sea resource exploration. The method solves the problem of rapid optimization design of airgun arrays in existing projects. The method comprises: inputting initial information parameters of the airgun array, obtaining airgun bubble pressure wavelet data and sound pressure level spectrum data before optimization based on the mathematical and physical model of airgun bubble dynamics; establishing upper and lower limits of the airgun sinking depth and constraints on the airgun volume variation range; setting its optimization objective function and optimization control parameters; combining spherical bubble dynamics theory with particle swarm optimization algorithm to iteratively optimize the array; calculating the airgun array pressure wavelet and sound pressure level spectrum. If the calculation results meet the requirements, the airgun array information optimized based on the particle swarm algorithm is obtained, the pressure wavelet and sound pressure level spectrum are calculated, and the optimized airgun array information is output to achieve inverse optimization of the airgun array; if the requirements are not met, the array is iteratively optimized.

The invention relates to the technical field of tension controllers, in particular to a rotation-resistant deep sea exploration steel wire rope tension controller which comprises a vertical plate, teeth are fixed to the surface of the vertical plate, an air cylinder is arranged at the top of the vertical plate, a second lifting groove is formed in the surface of the vertical plate, a lifting plate is arranged in the second lifting groove, and a first connecting rod is fixed to the surface of the lifting plate. A lower pressing ring is fixed to the end of the first connecting rod, a second inserting rod and a first inserting rod are arranged on the surface of the lifting plate, clamping plates are fixed to the end of the second inserting rod and the end of the first inserting rod, a steel wire rope is arranged between the two sets of clamping plates, and stress blocks are fixed to the surfaces of the clamping plates; the device has the beneficial effects that a second inserting rod is inserted into a vertical plate, the vertical plate descends in a first lifting groove along with descending of a second lifting groove, and due to clamping of two sets of clamping plates, the second lifting groove cannot rotate, and the anti-rotation effect is achieved.

The invention relates to the field of deep sea exploration, and discloses a positioning method and system for a submarine mining vehicle, so as to improve the positioning accuracy. The method comprises the following steps: extracting a global map spliced by key frames in the exploration process of a to-be-operated target area by the AUV; after the mining vehicle arrives at the target area, the relative orientation relation between the inspection robot and the mining vehicle and the height between the inspection robot and the seabed are calibrated; in the working process of the mining vehicle, the inspection robot collects images of the mining vehicle through a first camera, the distance between the inspection robot and the mining vehicle is obtained according to the collected images of the mining vehicle, and posture adjustment information for maintaining the relative orientation relation between the inspection robot and the mining vehicle is obtained; meanwhile, the inspection robot collects a seabed image under the inspection robot in real time through a second camera according to the calibrated height of the inspection robot and the seabed, and image matching is carried out in a global map according to the current seabed image; and obtaining the positioning information of the mining vehicle according to the longitude and latitude of the matched image in the global map in combination with the distance and the relative orientation relationship between the inspection robot and the mining vehicle.

The utility model belongs to the field of deep sea detection equipment, and particularly relates to a towed body device in a deep sea towed system, which comprises a towed body frame, the towed body frame comprises two main beams, a plurality of carrying cabins are arranged on the towed body frame, adjusting bases are arranged on the outer sides of the two main beams, adjusting holes are arranged on the adjusting bases, the adjusting bases are connected with a hanging bracket through the adjusting holes, and the hanging bracket is connected with the towed body frame. A plurality of mounting holes are formed in a base of the hanging bracket and are in bolted connection with the adjusting holes; hanging rings are connected to the tops of the hanging brackets; a dragging hook is arranged at the head end of the towed body frame, a buoyancy shell is arranged above the towed body frame, and a tail wing is arranged at the tail of the towed body frame. According to the utility model, the carrying cabin is reserved and can carry detection equipment; a mounting mode that the position-adjustable hanging bracket is mounted on the adjusting base is adopted, so that the problem that the overall gravity center of the towed body device shifts due to flexible carrying is solved, and the hoisting stability of the towed body device is adjusted; and meanwhile, the mode of increasing or decreasing additional buoyancy materials is adopted to adapt to the problem of overall gravity change caused by flexible loads.

The present application relates to the technical field of metal-based gradient composite materials, and particularly relates to a Fe-doped modified W-Ti gradient composite material and a preparation method and application thereof. The method comprises the following steps: preparing casting elements with different components by a casting method, wherein the casting elements at least comprise W-Ti-Fe composite elements and W-Ti composite elements; stacking the casting elements according to a preset gradient structure, removing glue, and hot-pressing sintering to obtain a Fe-doped W-Ti gradient composite material. The material has a six-layer gradient structure, which comprises a W-Fe layer, a W-20Ti-Fe layer, a W-40Ti-Fe layer, a W-60Ti layer, a W-80Ti layer and a Ti layer in sequence, wherein the first three layers are doped with 0.4% to 1% of Fe by layer mass. The present application effectively solves the problem of insufficient densification at the high-W end by doping a small amount of Fe at the high-W end with a high W content, and the obtained composite material has high density, uniform gradient structure and clear interface, and the quasi-isentropic loading path is highly consistent with the theoretical design, and can be used in the fields of national defense and military industry, aerospace, deep sea exploration and the like.

The invention provides a sand body reservoir prediction method and device, electronic equipment and a storage medium. The method comprises the steps that well-seismic horizon calibration is conducted according to well drilling data and seismic data; interpreting and tracking a horizon interface and a sand body reservoir interface of the complex salt structure region according to the seismic reflection characteristics; the sedimentary microfacies of the complex salt structure area are recognized, and sedimentary facies plane distribution comprehensive calibration is carried out; according to the time sequence of the salt structure activity and the sand body reservoir section stratum development, the interaction mode of the salt structure and the water channel is analyzed, and sand body reservoir prediction is conducted. According to the method, the interaction mode of the salt structure and the water channel is analyzed according to the time sequence of salt structure activity and sand body reservoir section stratigraphic development, under-salt and inter-salt turbid water channel space distribution is predicted, and prediction of a geophysical imaging fuzzy zone sand body reservoir is achieved. The method is of great significance in reducing deep-sea exploration cost and improving drilling success rate.

The present invention provides an underwater laser terrain matching navigation method and system for the deep sea, which is applied to a submersible and belongs to the field of deep sea exploration. The method of the present invention comprises: obtaining a seabed terrain database and the position and posture information, speed information, depth information, heading information and current terrain data map of the submersible; preprocessing and trajectory splicing the current terrain data map; matching and aligning the processed terrain data map with the seabed terrain database through an iterative closest point algorithm; and using the rotation matrix and translation vector obtained by the matching and alignment to correct the accumulated position and posture error information of the submersible. The present invention obtains a seabed terrain data map through an underwater laser detector, and combines it with an underwater laser terrain matching navigation method for the deep sea, so as to effectively improve the matching accuracy of the seabed terrain matching navigation system, and meet the requirements of reliable high-precision navigation and positioning for the long-term operation of the submersible underwater.

The invention discloses a deep-sea exploration shale gas yield prediction method and system, and belongs to the technical field of ocean, and the method comprises the steps: collecting and processing real-time data of a shale gas field, and then determining the characteristic data of the shale gas field; historical data of the shale gas field are collected, and a shale gas yield prediction model is constructed; the shale gas yield prediction model is adopted to analyze the shale gas field characteristic data, and the shale gas yield in the shale gas field is predicted. According to the method, the problems that in the prior art, the shale gas yield in the shale gas field cannot be effectively predicted, so that the production scheme optimization, the development effect evaluation and the energy scheme making are greatly influenced, and the shale gas field development effect is poor are solved. The shale gas field characteristic data is analyzed and predicted based on the shale gas yield prediction model, the shale gas yield in the shale gas field can be effectively predicted, the production scheme is further optimized, the development effect is evaluated, the energy scheme is formulated, and the shale gas field development effect can be improved.

This invention relates to the field of unmanned aerial vehicle (UAV) technology and discloses a high-efficiency underwater UAV. The UAV is equipped with an adjustable power drive mechanism and an observation mechanism, and internally features a high-strength, lightweight internal frame and a satellite navigation system. The adjustable power drive mechanism employs a tail-mounted power unit, tail fin, and multiple side-mounted adjustable propellers in a coordinated layout. The propellers can achieve pitch, rotation, and angle adjustment, satisfying multi-attitude control requirements such as hovering, turning, climbing, and diving, with stable thrust and flexible maneuverability. It is equipped with a deep-sea pressure-resistant transparent protective cover and a sonar positioning device, combined with satellite navigation for precise positioning and navigation, providing strong protection and environmental awareness capabilities. This invention solves the problems of traditional UAVs, such as single power source, insufficient maneuverability, and limited observation capabilities. It possesses advantages such as high-efficiency navigation, precise control, strong environmental adaptability, and reliable structure, making it suitable for deep-sea exploration, engineering inspection, environmental monitoring, and other operational scenarios.

The utility model relates to cable technical field, concretely relates to a kind of deep sea anti-cutting waterproof cable, cable core includes inner core and water-blocking ointment layer, kevlar tensile layer and encapsulation layer covered in inner core outside in turn, encapsulation layer is wound in water-blocking ointment layer outside using the way of around or longitudinal package, inner core is by signal core wire and multiple power core wire bundle to be twisted, signal core wire includes signal twisted pair wire and the shielding layer covered in signal twisted pair wire outside, shielding layer is wound in signal twisted pair wire outside using the way of around or longitudinal package, stainless steel armor layer includes multiple stainless steel wires, cable core is arranged in cable center and is twisted with multiple stainless steel wire bundles, sheath is extruded and wrapped in stainless steel armor layer outside.Deep sea anti-cutting waterproof cable can simultaneously realize anti-cutting, waterproof, high-pressure resistance, tensile resistance, corrosion resistance, signal stability and other multiple properties, can adapt to the extreme environment of deep sea, satisfy the long-term reliable operation demand of deep sea exploration, submarine engineering, underwater equipment power supply and communication and other scenes.

The invention discloses a space extensible mechanism comprising a symmetrical seven-rod unit and an auxetic surface structure, and belongs to the technical field of mechanism application. Comprising a rack, a driving connecting rod, a side link, a I-type side link, a II-type connecting rod, an auxiliary connecting rod, a sliding block, a cross-shaped connecting rod, a III-type connecting rod, a IV-type connecting rod, a V-type connecting rod, a VI-type connecting rod, a I-type auxetic structure, a II-type auxetic structure, a III-type auxetic structure and a IV-type auxetic structure. The mechanism is driven through the driving connecting rod, the pulling and expanding structure is carried on the surface of the extensible mechanism composed of the symmetrical seven-rod closed loop, the grabbing capacity of the mechanism for small targets when the mechanism executes a grabbing task is effectively improved, torque is transmitted through the auxiliary connecting rod, and the grabbing efficiency is improved. The whole mechanism has the advantages of being single in freedom degree, convenient to control, good in rigidity, continuous and stable in movement and the like, and has wide application prospects in the fields of space / deep sea exploration, tail end grabbing and the like.

The invention relates to the technical field of optical detection and optical fiber sensing, in particular to a Fabry-Perot temperature-depth sensor based on an optical fiber ring laser and a measuring system. The sensor adopts an all-fiber intracavity sensing design, and comprises a composite sensing probe formed by cascading a Fabry-Perot interferometer and a fiber bragg grating, a fiber ring laser cavity and a demodulation unit. The sensor probe is integrally packaged by adopting a three-dimensional photoetching 3D printing technology, the structure is firm, and the size is compact. According to the system, a sensing probe is embedded into a laser cavity, weak signals are amplified by utilizing gain in the cavity, and response signals of an FPI and an FBG are processed in real time based on a multi-parameter matrix algorithm in combination with stable wavelength reference and temperature reference provided by the FBG, so that high-precision synchronous measurement of temperature and hydraulic pressure (depth) and effective decoupling of cross sensitivity are realized. The optical fiber temperature-depth sensor overcomes the problems that a traditional optical fiber temperature-depth sensor is serious in cross sensitivity and poor in environmental adaptability in a complex underwater environment, has the advantages of being high in sensitivity, good in stability, high in anti-interference capacity, convenient to integrate and the like, and is suitable for the fields of ocean observation, deep sea exploration, underwater engineering safety monitoring and the like.

The present application relates to a kind of forming method of casting billet multi-roller swing roller integral forming super-large diameter disc piece, comprising the following steps: S1, obtaining casting billet;S2, casting billet is transferred to heating furnace, and heated in the forging temperature interval interval, so that the temperature of casting billet is homogenized;S3, casting billet is transferred to multi-roller swing roller equipment, casting billet is revolved with lower mould under the action of rotating lower mould, and lower mould is driven along the axial direction under the action of sliding beam, and revolves around its own axis under the action of workpiece friction force, so that casting billet generates continuous local plastic deformation, and then height is reduced, diameter is expanded, and disc piece is obtained;S4, disc piece after axial rolling forming is heat treated and modulated.The present application has the characteristics of small equipment tonnage, short process flow, material and energy saving and the like, and the super-large diameter metal disc piece integrally formed using the method has complete metal streamline, uniform structure and good mechanical properties, and can meet the needs of large nuclear power, deep sea exploration, petrochemical and other pressure vessels with high safety grade.

The present application relates to the technical field of deep sea exploration, and particularly relates to a device and method for in-situ measurement and sampling of deep sea hydrothermal vent end-member fluid. The device comprises an automatic sealing combination unit, a fluid data measurement and processing unit, and an in-situ sampling unit. The automatic sealing combination unit comprises a liquid inlet pipeline, a composite flexible shell, and a sealing device. The sealing device is driven by the composite flexible shell to cover the annular outer side of the rock of the hydrothermal vent, and the sealing device forms a sealed space of the hydrothermal fluid in the composite flexible shell. The fluid data measurement and processing unit comprises a fluid pipeline, which is in communication with the liquid inlet pipeline. The in-situ sampling unit comprises a dredging pipeline and a sample collection box. The dredging pipeline is in communication with the fluid pipeline, and the dredging pipeline is in communication with the sample collection box. The device realizes the sampling of the deep sea hydrothermal fluid, and improves the reliability and accuracy of the measurement of the deep sea hydrothermal fluid.

The invention discloses anti-interference integrated installation equipment for deep and far sea geophysical prospecting equipment and a use method of the anti-interference integrated installation equipment. The equipment comprises a multi-dimensional dynamic balance seat, a magnetic type anti-interference mounting frame, an ocean current buffer flow guide cover and a magnetic type quick connecting assembly. The multi-dimensional dynamic balance seat achieves horizontal 360-degree rotation and multi-direction inclination adjustment through the rotating platform, the left-right inclination platform and the front-back inclination platform, and ship shaking is counteracted in real time. The magnetic type anti-interference mounting frame is provided with a plurality of layers of shielding plates, so that electromagnetic interference is effectively isolated; the surface of the ocean current buffer fairing is provided with a diversion trench to disperse ocean current impact; the magnetic type quick connecting assembly realizes quick positioning and fixing of geophysical prospecting equipment. The device integrates the functions of dynamic balance, interference resistance, ocean current buffering and rapid installation, and the stability, data accuracy and operation efficiency of deep and far sea geophysical prospecting equipment under complex sea conditions are remarkably improved.

The invention relates to a deep-sea flexible inductive pressure sensor and an automatic calibration method thereof. The deep-sea flexible inductive pressure sensor is mainly applied to pressure measurement when a deep-sea flexible gripper grabs an object. The sensor adopts a flexible printed circuit board and an inductance type pressure sensing technology, and comprises the flexible printed circuit board, a coil inductor drawn on the flexible printed circuit board, an ultra-soft silica gel layer uniformly coated on the flexible printed circuit board, a copper foil layer covered on the ultra-soft silica gel layer and a sealing film covered on the copper foil layer. When the pressure acts, the deformation of the copper foil causes the change of the inductance value of the coil, and the pressure detection is realized by detecting the inductance change. The sensor provided by the invention can provide high-sensitivity and high-reliability pressure measurement in an environment with high hydrostatic pressure and dynamic grasping pressure, can maintain high adaptability and reliability in a deep sea environment, and provides reliable technical support for deep sea exploration and engineering application.

The invention discloses an oil cylinder suitable for a deep sea high-pressure environment, and belongs to the technical field of deep sea equipment. The oil cylinder is designed aiming at the requirements of extremely high external pressure, corrosion and long service life in deep sea. An oil cylinder outer shell is high in pressure bearing capacity, and a supporting assembly composed of a plurality of supporting rings and a guide limiting assembly connected with the supporting assembly are arranged in the oil cylinder outer shell. The guiding and limiting assembly forms a continuous rigid guiding chain through sliding connection of a plurality of limiting pieces, multi-point accurate guiding with extremely high rigidity is provided for the piston rod under deep sea high pressure, and unbalance loading and deformation are effectively resisted. The front end supporting ring is provided with an anti-locking oil groove, and pressure impact caused by oil way cut-off is avoided. The oil cylinder end cover integrates multi-stage sealing and a lubricating groove communicated with an oil cavity, and it is ensured that sealing is reliable and lubricating is sufficient under the huge pressure difference. The sealing lubricating system is firm in structure and excellent in guiding precision and stability, is optimized for high pressure difference, and is particularly suitable for hydraulic executing mechanisms of equipment such as deep-sea exploration and operation robots.

The invention relates to a deep sea exploration parallel propeller technical framework and method based on digital twinning, the technical framework comprises a physical layer, an interaction layer, a virtual layer, a decision-making layer and a communication layer, the physical layer is composed of a three-degree-of-freedom parallel propeller and a physical sensor, the interaction layer is used for man-machine interaction and displaying exploration operation content, and the virtual layer is used for virtual decision-making. The virtual layer comprises a digital twin model and a virtual control unit, the decision-making layer comprises an autonomous decision-making engine and a predictive maintenance center, and the communication layer performs data transmission and interaction; the method comprises the following steps of: synchronizing sensor data to a Unity digital twinborn body on the basis of an OPC protocol, triggering an instruction through man-machine interaction, inversely resolving joint parameters through kinematics, driving a parallel propeller to execute a task by a virtual PLC (Programmable Logic Controller) through an OPC, and autonomously optimizing a dynamic trajectory and responding to a fault on the basis of a TCN (Triggered Crystal Network). According to the invention, digital twinning and virtual PLCs are deeply integrated and deployed to physical equipment, so that the debugging risk and cost in a deep sea environment can be greatly reduced, and the problems of low pose precision and fault response lag of a propeller are effectively solved.

The utility model provides a plugging structure capable of bearing external pressure, which comprises a watertight compartment body, an upper end cover and a lower end cover are respectively arranged on two sides of the watertight compartment body, the upper end cover and the lower end cover are both in threaded connection with connecting flanges, and the connecting flanges are respectively and fixedly connected with two ends of the watertight compartment body. The surfaces of the watertight compartment body and the connecting flange are both coated with polyurethane protective layers, and a reinforcing mechanism is arranged on the inner wall of the watertight compartment body. Composite materials are adopted for laying, it is ensured that stress does not exceed the material limit under the pressure of 10 MPa, the connecting flanges are bonded with the carbon fiber barrel through adhesives, certain rigidity needs to be kept when the connecting flanges bear external pressure, and deformation similar to that of the carbon fiber barrel needs to be kept; the weight of the pressure-resistant cabin made of light composite materials such as carbon fibers and macromolecule resin can be reduced by 40%-60% compared with that of a metal cabin of the same specification, more scientific instruments can be carried in deep sea exploration, and the pressure-resistant cabin has excellent cost performance.

Disclosed are a flexible intelligent electronic skin, a preparation method and application thereof, the flexible intelligent electronic skin comprising a first organic silicone rubber functional layer, a first liquid metal conductive layer, a second organic silicone rubber functional layer, a second liquid metal conductive layer and a third organic silicone rubber functional layer; the first organic silicone rubber functional layer, the second organic silicone rubber functional layer and the third organic silicone rubber functional layer all comprise functional particles and organic silicone rubber having a boron-oxygen coordination bond, a hydrogen bond and a topological entanglement structure; the first liquid metal conductive layer and the second liquid metal conductive layer both comprise high-conductivity micrometer metal sheets and liquid metal. The flexible intelligent electronic skin of the application realizes multi-modal deep fusion, has self-healing, temperature sensing and wide-area tactile sensing capabilities, and can be applied to fields including human-computer interaction, health services, national defense and military industry and deep space and deep sea exploration.

The utility model relates to a composite structure anti-rotation steel wire rope for deep-sea exploration, which belongs to the technical field of steel wire ropes for deep-sea exploration and comprises a rope core layer, and a protective reinforcing structure is arranged on the outer wall of the rope core layer. The protective reinforcing structure comprises a steel wire layer pressed on the outer wall of the rope core layer, the outer wall of the steel wire layer is pressed with a composite structure layer, the outer wall of the composite structure layer is pressed with a buffer energy-absorbing layer, the outer wall of the buffer energy-absorbing layer is pressed with a reinforcing structure layer, and the outer wall of the reinforcing structure layer is pressed with a conductive shielding layer. And the outer wall of the conductive shielding layer is covered with a polymer coating protection layer in a pressing manner. According to the composite structure anti-rotation steel wire rope for deep sea exploration, according to the multi-layer composite structure design, the rope core layer provides a supporting and lubricating foundation, the steel wire layer bears main loads, the composite structure layer achieves the anti-rotation function, the buffering energy absorption layer effectively absorbs impact and vibration, and the reinforcing structure layer further improves the overall strength and stability; the conductive shielding layer inhibits electromagnetic interference.

The invention relates to the technical field of deep sea exploration frames, and discloses a reconfigurable deformable frame mechanism for deep sea exploration, which comprises a truss, two first sliding blocks, two side frames, a double-thread screw, a connecting frame, a fixing piece and two stabilizing frames, the two first sliding blocks are slidably connected into the two sliding grooves correspondingly, the two ends, in the same direction, of the two side frames are hinged to the two first sliding blocks correspondingly, the double-thread screw is inserted into the truss in the length extension direction of the truss, the double-thread screw and the truss are rotationally connected, and the double-thread screw penetrates through the two first sliding blocks. The two ends of the connecting frame are hinged to the ends, away from the truss, of the two side frames correspondingly, and the two stabilizing frames are fixedly connected to the sides, away from the side frames, of the two ends of the truss correspondingly. The device is high in structural stability and structural flexibility, the stability of the frame can be guaranteed when the device runs in a complex environment, and a solid foundation is laid for exploration in various areas.

The invention relates to the technical field of axle mechanisms, and discloses a deep sea exploration vehicle multi-configuration axle which comprises a middle axle, two side axles, two main shafts, two first balls, two rolling devices and two hydraulic cylinders. The two side bridges are connected to the two ends of the middle bridge respectively, the bottoms of the side bridges are hinged to the middle bridge through hinges, the two main shafts are horizontally connected to the ends, away from the middle bridge, of the two side bridges respectively, the two first balls are connected with the ends of the two main shafts in a spherical hinge mode respectively, and the two rolling devices are connected to the sides, away from the main shafts, of the two first balls respectively. The rolling device comprises two clamping sleeves and a second ball body, the two clamping sleeves are in a semi-arc shape, openings of the two clamping sleeves are opposite, the two clamping sleeves are fixedly connected with the first ball body, the second ball body is embedded between the two clamping sleeves in a rolling mode, and the two fixing parts are hinged to the two sides of the bottom of the middle axle respectively. According to the structure, the exploration equipment can quickly pass through a relatively narrow water area or a water area with a certain height of convex obstacles through deformation of the axle.

The application discloses a target tracking positioning method based on non-parametric classification and composite reliability, relates to the field of target tracking, and comprises the following steps: step 1, designing an underwater video target tracking positioning system based on an imaging sonar and a binocular camera; step 2, establishing an underwater moving target multi-mode detection method based on non-parametric pixel classification; step 3, constructing a correlation filter learning model based on composite reliability, containing spatial reliability and multi-feature multi-channel reliability; step 4, solving a correlation filter learning optimization problem based on composite reliability; and step 5, completing joint tracking positioning based on the binocular camera and the imaging sonar. The application can improve the reliability and effectiveness of underwater robots in unstructured environments, and provides theoretical and technical support for the development of underwater robots, deep sea exploration and space robots in China.

The invention discloses a soft synchronization TDMA (Time Division Multiple Access) protocol implementation method for an underwater wireless sensor network, belongs to the technical field of underwater wireless communication, and solves the problems of difficulty in synchronization and high conflict rate of the existing UWSNs in an underwater sound environment with long propagation delay. According to the method, the initial time of an active window is distributed to each sensor node in the network at equal intervals, a periodic frame structure with the windows capable of being overlapped is established, and flexible adjustment of the frame length is achieved so as to optimize time delay; window random jitter is introduced to realize cross-period decoupling of the synchronization error, and the cumulative effect of the synchronization error is relieved; an access moment is randomly selected in an active window according to truncation cosine-distribution, and data packet transmission is performed at the access moment in the window, so that the conflict rate is remarkably reduced, the throughput and the channel utilization rate are improved, the end-to-end delay is shortened, and the access fairness is improved on the premise that strict global synchronization is not needed; the method is suitable for resource-limited underwater sensor nodes and UWSNs scenes such as marine environment monitoring, deep sea exploration and national defense communication.