36 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 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 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 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 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.

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 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.

The application discloses a deep-sea rare biological target detection method based on a stable diffusion model and belongs to the technical field of deep-sea biological target detection. Rare biological categories are determined from a deep-sea benthic biological real scene data set, and a foreground region image is extracted to construct a real target data set, a foreground image generation model is trained, and diversified synthetic foreground images are generated. A conditional control network is used to generate an external drawing of the foreground image according to a layout mask, the synthetic foreground image is fused with a deep-sea background, and a target position label is automatically generated according to the layout mask to obtain a synthetic scene image. After the synthetic quality is screened and the label frame is refined, the synthetic scene image is combined with the real scene data set to construct an enhanced training data set, and a target detection model is trained. The application solves the problem that the target detection performance is limited due to the long-tail distribution effect of the deep-sea exploration data set, and improves the detection capability of the target detection model for the rare biological categories.

The invention discloses a composite base structure design method, a composite base and a convex broadband underwater acoustic transducer, and relates to the technical field of underwater acoustic transducers, and the composite base structure design method comprises the steps: obtaining the length l < s > of an internal space of a housing in a natural state and the length l < 0 > of a driving oscillator; the deformation amount x sa of the shell in the long axis direction under the expected water depth is calculated; calculating the deformation x < r > of the driving vibrator compressed under the expected prestress; calculating the interference length m = x r + x sa; and calculating the thickness d of the base according to the formula: d = (ls + m-l0) / 2. The invention aims to improve the electro-acoustic conversion efficiency of the underwater acoustic transducer in deep sea detection.

Deep sea exploration platform pile area selection method, the existing seabed topography detection method needs to carry out large-scale online topography reconstruction on the seabed topography of the pile area, and there are problems of large amount of calculation and poor real-time performance, which belongs to the field of seabed topography detection. The present application comprises: extracting the DEM gradient and variance of the seabed topography, and generating a point cloud map of the seabed topography; scanning the selected pile area in the point cloud map to obtain the average gradient and variance D(x,y) of the selected pile area; selecting the point with the minimum value of the average gradient and variance of each selected pile area in the visible area of the pile field, respectively, and each selected pile area is centered on the selected point, and the neighborhood of the center is divided into gradient selected pile area and variance selected pile area i=1,2,...,N d , N d is the preset number of selected pile areas. It can be applied to other fields such as lunar exploration.

The invention provides a state observation and spare part scale combined constraint task reliability optimization method. According to the method, a dynamic Bayesian inference model of a system degradation process is constructed, an incomplete monitoring signal is utilized to carry out probability inference on a real health state of the system, an inference result is combined with a current available spare part resource state, and an optimal online maintenance decision is made. Comprising the following steps: 1, constructing a continuous time Markov task state evolution model; 2, the posterior state probability of observation error fusion is updated in real time; and 3, performing staged dynamic decision-making for task reliability. Compared with an existing method, the method not only considers the uncertainty of observation information, but also introduces the influence of the dynamic change of the number of spare parts on the maintenance strategy, and effectively improves the task reliability and risk control capability. Key technical support can be provided for health management and reliability guarantee of key task equipment such as aerospace, ships and deep sea exploration.

The invention discloses deep sea pressure maintaining detection sampling equipment, relates to the technical field of deep sea exploration, and solves the technical problems of low automation degree and incapability of maintaining pressure of collected samples in the existing technical scheme. The deep sea pressure maintaining detection sampling equipment comprises a main case, the main case is a spherical tank body, and a chain conveying structure is arranged in the main case; a chain conveying structure is arranged in the pressure-resistant spherical mainframe box, sampling tanks are mounted on the chain conveying structure, a switch valve is arranged at the lower end of the mainframe box, the switch valve is connected with the lower ends of the sampling tanks, exhaust valves are arranged at the upper ends of the sampling tanks, and butt-joint ports are formed in the lower ends of the sampling tanks. The full-flow operation can be automatically and continuously completed, the mode of one-time diving and multi-time sampling is achieved through the design, the number of samples obtained through single-time operation is multiplied, the offshore operation time is greatly shortened, and the scientific investigation cost is remarkably reduced.

The invention relates to a profound hypothermia copper-nickel-aluminum alloy material and a preparation method thereof, and belongs to the technical field of nonferrous metal materials. According to the alloy, copper serves as a base body, 25-35% of nickel, 2-6% of aluminum, 1-4% of tin and other elements are added, and the alloy is prepared through the processes of non-vacuum melting, multi-pass forging, solid solution aging heat treatment and the like. The material shows excellent comprehensive mechanical properties in normal-temperature and ultralow-temperature (-196 DEG C) environments, the tensile strength can reach 500-690 MPa, the ductility is 33-42%, the impact toughness Akv is larger than or equal to 110 J, and particularly the problem that the toughness of a traditional copper alloy is suddenly reduced at low temperature is solved. The method is simple in process, low in cost, suitable for industrial production and capable of being widely applied to the extreme environment engineering fields such as aerospace, deep sea exploration and low-temperature energy storage and transportation.

The present application belongs to the technical field of test and measurement, and relates to optical fiber sensor technology, in particular to a temperature and strain dual-parameter sensor based on a variable-diameter hollow-core optical fiber and a preparation method thereof. The present application is based on a splicing structure of hollow-core optical fibers with different core diameters, that is, a first hollow-core optical fiber with a large core diameter is spliced with a second hollow-core optical fiber with a small core diameter, and then a segment of coreless optical fiber is fused on each side; the coreless optical fibers on the two sides are respectively used for exciting high-order modes and mode coupling, and the first hollow-core optical fiber and the second hollow-core optical fiber with different core diameters enable multiple modes to produce a phase difference, thereby forming a multimode interference. This structure is used for strain and temperature sensing, and has the advantages of low cross-talk, low manufacturing cost and good robustness, etc., and solves the technical defects of temperature cross-talk, high cost and fragile structure of existing optical fiber strain sensors. The present application has high precision and high reliability, and can be applied to complex scenes such as building health monitoring, aerospace, deep sea exploration, etc.

The present application relates to underwater vehicle control technology field, specifically to a kind of exhaust-free underwater variable volume buoyancy adjusting system and control method, including power and controller in control cabin and air pump, high-pressure power bottle, low-pressure recovery bottle, buoyancy adjusting dry cabin with servo cylinder and watertight piston cover, valve group and pressure sensor, each component is connected by pipeline and cable closed loop;When working, servo cylinder drives piston to change dry cabin volume to adjust displacement volume, gas only circulates between high-pressure power bottle, dry cabin, low-pressure recovery bottle without emission;PID control is realized to achieve precise hovering, and core component is adapted to underwater high pressure, corrosion working condition using corrosion-resistant and pressure-resistant material.The present application gas zero loss prolongs endurance, no bubble improves concealment, and adjustment accuracy reaches millimeter level, suitable for deep sea exploration, military reconnaissance and other scenes.

The application discloses a kind of based on fusion communication technology's buoy communication system and communication method, belong to the field of deep sea communication technology, wherein buoy communication system includes: communication buoy subsystem, including communication main buoy, after communication main buoy floats to sea surface, realize instantaneous reporting operation by satellite communication technology, and release communication sub-buoy carried on communication main buoy, and then collectively convert to short-distance standby receiving mode;Communication platform subsystem includes communication cooperation terminal, for receiving satellite communication signal sent by communication main buoy, and continuously sending short-distance communication excitation signal after remote communication platform reaches satellite positioning area, thereby exciting communication buoy subsystem and carrying out short-distance communication transmission.The application makes full use of global coverage satellite communication and low-power short-range communication, designs fusion communication technology based on satellite communication and short-range communication, thereby providing a reliable solution for deep sea exploration information transmission.

The invention relates to the technical field of underwater vehicle control, in particular to a non-exhaust underwater variable-volume buoyancy adjusting system and a control method.The non-exhaust underwater variable-volume buoyancy adjusting system comprises a power and control cabin built-in controller and air pump, a high-pressure power bottle, a low-pressure recovery bottle, a buoyancy adjusting dry cabin matched with a servo electric cylinder and a watertight piston cover, a valve set and a pressure sensor; each component is connected with the cable in a closed loop manner through a pipeline; during working, the servo electric cylinder drives the piston to change the volume of the dry cabin so as to adjust the drainage volume, and gas only circulates among the high-pressure power bottle, the dry cabin and the low-pressure recovery bottle without emission; precise hovering is achieved in cooperation with PID control, and core components are made of corrosion-resistant and compression-resistant materials to adapt to underwater high-pressure and corrosion working conditions. The device is free of gas loss, prolongs endurance, is free of bubbles, improves concealment, achieves millimeter-level adjustment precision, and is suitable for deep sea detection, military reconnaissance and other scenes.

The utility model relates to a safety bag for deep sea exploration, which comprises a pressure-resistant bag body, the left side and the right side of the pressure-resistant bag body are fixedly provided with fixing plates, the pressure-resistant bag body is internally provided with a pressure-reducing adjusting assembly and a bearing plate, the front side of the bearing plate is provided with a functional assembly, and the functional assembly is provided with a pressure-reducing adjusting assembly and a pressure-reducing adjusting assembly. The pressure reduction adjusting assembly comprises a fixing frame, and the pressure-resistant bag body is made of basalt materials. According to the safety bag for deep-sea detection, the pressure reduction adjusting assembly is arranged, a fixing frame is matched with a movable plate and the like, then the safety bag adapts to pressure changes of different water depths, internal detection equipment can be protected, the deep-sea detection equipment can be fixed and clamped by arranging a functional assembly and matching a fixing box with a two-way screw rod and the like, and the safety bag is convenient to use. And the wire can be fixed through the second spring and the clamping arm and the like, the wire is prevented from loosening, and through the arrangement, the stability of the detection equipment in an extreme deep sea environment can be ensured.

The present application relates to the technical field of underwater vehicle navigation, and provides an underwater vehicle inertial navigation path planning method and system, which comprises the following steps: identifying whether the vehicle enters a preset self-diagnosis task stage to obtain a self-diagnosis identification result; issuing a preset roll attitude micro-motion instruction to a roll axis actuator of the vehicle; synchronously collecting roll angular rate data, speed data, roll angular rate instruction values and roll attitude angles; quantifying a roll gyroscope bias value according to the difference between the roll angular rate data and the roll angular rate instruction values and the inconsistency between the speed data and the theoretical speed data predicted based on the roll attitude angles; feeding back the roll gyroscope bias value to an inertial navigation system to correct a roll attitude estimation error; and adjusting the path planning of the vehicle according to the corrected roll attitude estimation error. The present application has the effect of improving the navigation accuracy and task completion efficiency of the vehicle in deep sea exploration tasks.

The utility model relates to the technical field of deep sea exploration, and discloses a hydraulic top drive device with scales, which comprises an outer sleeve and a fixing sleeve internally communicated with the outer sleeve, a balance cavity is arranged on the inner surface and the outer surface of the outer sleeve, and a plurality of anti-skidding sleeves distributed at equal intervals are fixedly mounted on the outer surface of the fixing sleeve. A hydraulic cavity is formed in the inner surface of the fixing sleeve, a spring is fixedly installed at the other end, away from the outer sleeve, of the inner surface of the hydraulic cavity, a first movable plug is fixedly installed at the other end, close to the outer sleeve, of the spring, and a connecting rod is fixedly installed at the other end, away from the spring, of the first movable plug. According to the hydraulic top drive device with the scales, due to the arrangement of the scale assembly, an operator can visually and accurately obtain stroke information of the hydraulic top drive device according to the position of the first pointer on the graduated scale, the distance of a top drive can be accurately controlled conveniently, and the working precision and efficiency are improved. The second pointer assists in observation, and reading errors caused by the visual angle problem are avoided.