1788 results about "Deep water" patented technology

The invention provides a marine pollution tracing and monitoring method based on satellite remote sensing and an unmanned aerial vehicle, and relates to the technical field of marine pollution tracing and monitoring, and the method comprises the steps: configuring a pollution diffusion path prediction model and a data driving model based on range pollution data, precise pollution data and deepwater data after multi-modal data fusion, and obtaining a pollution prediction result and pollution error data, carrying out hybrid drive fusion based on the pollution prediction result and the pollution error data, and tracking an initial source of pollutants to obtain pollution source tracing data. Through preprocessing and fusion of multi-modal data, in combination with range pollution data, precise pollution data and deep water data, a pollution diffusion path prediction model and a data driving model are dynamically adjusted, so that a more precise pollution prediction result and pollution error data are generated, and meanwhile, through reverse diffusion simulation and pollution traceability analysis, a more precise pollution prediction result is obtained. The high efficiency of pollution source positioning and decision support is improved, and an accurate and decision basis is provided for coping with marine pollution events.

The invention discloses an uncontrolled multispectral remote sensing water depth inversion method and system, and belongs to the field of shallow sea water depth inversion methods. The method comprises the following steps: firstly, by calculating a depth invariant index of a target area, dividing the target area into a high substrate reflectivity type, a medium substrate reflectivity type and a low substrate reflectivity type; establishing corresponding high, medium and low substrate reflection spectrum sets according to the typical substrate type of the target area; and finally, based on a shallow water radiation transmission model, combining remote sensing reflectivity data of an adjacent optical deep water region, and establishing optimal matching between the simulated remote sensing reflectivity and the actual remote sensing reflectivity by matching a substrate reflection spectrum in a regional pixel-by-pixel manner, so as to obtain a continuous large-area bathymetric map of the target region. The method is suitable for water depth measurement without prior actual measurement of water depth in a multispectral remote sensing scene, solves the problem that a traditional water depth inversion algorithm does not fully consider complex substrate types and spectral variation, and provides a higher-precision method for shallow sea multispectral remote sensing uncontrolled water depth inversion.

The invention discloses a deep water-rich weak-impact coal seam surrounding rock control method based on rapid tunneling, and relates to the technical field of surrounding rock control. The method comprises the steps that S1, a high-risk area is identified through address detection, a waterproof curtain is constructed, and the tunneling disturbance risk is reduced; s2, rapid tunneling and instant supporting are conducted, the surrounding rock exposure time is shortened, tunneling and supporting are completed synchronously, and deformation development is restrained; s3, sensing a surrounding rock-support response in real time, optimizing parameters and early warning risks, and realizing dynamic monitoring and feedback regulation and control; s4, later-stage continuous reinforcement maintenance is conducted, so that the roadway adapts to the rheological characteristics of deep surrounding rock, and the service cycle of the roadway is prolonged; according to the method, a high-risk area is identified through various detection technologies, and instant supporting is achieved through cutting process optimization and digging and supporting collaborative operation; real-time monitoring and dynamic feedback are achieved, and automatic optimization of supporting parameters is achieved; and later reinforcement and periodic maintenance are adopted to ensure that the surrounding rock supporting system can adapt to the rheological characteristics of deep surrounding rock for a long time.

The invention relates to a marine fishery breeding work ship deep water taking device and method, the marine fishery breeding work ship deep water taking device comprises a water taking cantilever, a submersible pump, a guide roller, a rolling part and a lifting device, the water taking cantilever is connected with a ship body through a rotation pair, and the water taking cantilever can stably descend underwater and keep the accurate water taking depth; the water taking method comprises the steps that the position and angle of a water taking cantilever are adjusted through a winding and unwinding winch, a temperature sensor at the water taking cantilever end monitors the seawater temperature in real time, and when the temperature reaches a preset value, a submersible pump is started to extract deep seawater; compared with a traditional method, the device has the characteristics of compact structure, simple operation, high efficiency and reliability; the problems that underwater butt joint is difficult, a hose is prone to damage and the like are solved, and operation efficiency and safety are remarkably improved; through the connection of the flexible short pipe, the flexibility and the stability in the water taking process are ensured, and meanwhile, the labor intensity of operators is reduced; the technology can be widely applied to marine fishery breeding, especially extraction of deep cold water resources, and has remarkable energy-saving, environment-friendly and economic benefits.

The invention provides a large-scale water body underwater terrain inversion method and device and a medium, and the method comprises the steps: carrying out the partitioning of a to-be-inverted water body region, and obtaining a deep water region and a land-water conversion shallow water region; based on a spatial interpolation method, carrying out inversion on the land-water transformation shallow water area to obtain a land-water transformation shallow water area topographic image; a deepwater area water depth inversion model constructed based on the wave band reflectivity information and the underwater topographic elevation data performs inversion on the deepwater area to obtain a deepwater area underwater topographic image; and carrying out image splicing fusion on the land and water transformation shallow water region topographic image and the deep water region underwater topographic image to obtain the underwater topography of the water body to be inverted. In the face of a complex and changeable water body environment, a water body area to be inverted is divided into a deep water area and a land and water conversion shallow water area, and different and more targeted inversion methods can be adopted according to the characteristics of water bodies in different areas.

An erosion coast ecological protection system comprises: ecological submerged dikes, tidal flat habitats, vegetation habitats and ecological breeding areas arranged in sequence from sea to land on the erosion coast; the ecological submerged dikes are arranged in the subtidal zone parallel to the coast, the overall structure is composed of multiple sections of submerged dikes and gates, and the length of a single section of submerged dikes is not less than 8 times the wavelength; the tidal flat habitat is connected with the ecological submerged dike and is properly decorated according to the tidal flat terrain to form a multiple habitat consisting of shallow water areas and deep water areas; the vegetation habitat area is located in the intertidal zone, and its outer edge is arranged with riprap to avoid tidal channels, the slope is about 1:2-1:3, and a vegetation belt of not less than 50m wide is planted on the land side; the ecological breeding area is provided with a plurality of breeding ponds with field-shaped channels, the top width of the channel is about 4-6m, and several rows of tamarisks are planted to form a wind-resistant buffer zone.

The invention relates to the technical field of intelligent monitoring, in particular to an underwater robot monitoring device and method based on muon imaging and navigation positioning, and the device comprises a transmission and control subsystem which is used for driving an underwater robot to complete a target action task in an underwater pipeline; the muon imaging positioning subsystem is used for acquiring high-energy imaging information and a three-dimensional coordinate position of the underwater robot so as to assist the underwater robot in completing a target action task; the underwater scanning, monitoring and early warning subsystem is used for evaluating a water sample of the underwater pipeline to generate a water quality evaluation report and acquiring surrounding terrain and geological feature information of the underwater pipeline to generate an underwater three-dimensional image; and the multi-source data fusion transmission base station is used for fusing the water quality evaluation report, the high-energy imaging information and the underwater three-dimensional image to generate a state evaluation report. Therefore, the problems of insufficient penetrating power, low resolution, signal interference and the like of the existing underwater monitoring technology and the like under the conditions of deep water, high turbidity or complex terrains are solved.

The invention provides a seawater cooling control system and method which are applied to the technical field of ocean engineering, and the seawater cooling control system comprises a cooling water well, a first temperature sensor, a water level gauge, a water suction pump, a water delivery pump, a monitoring buoy, a second temperature sensor, a flow meter and a controller. The first temperature sensor and the second temperature sensor monitor the temperature in the well and the coral reef area and the water flow speed of the flow velocity metering area respectively, the water level gauge ensures that the water volume in the well is stable, and data are analyzed in real time through the controller to generate a control instruction. The difference value between the environment temperature and the whitening threshold value, the cooling water temperature in the well and the coral reef flow speed serve as input variables, the flow requirement of the water delivery pump is dynamically calculated through a preset rule base, and self-adaptive adjustment is achieved. Through cooperative feedback of the double temperature sensors, it is ensured that the water delivery temperature is strictly controlled within a coral tolerance threshold value, and heat stress whitening is avoided. Layered water taking is combined with a fuzzy control algorithm, energy consumption is reduced compared with a traditional deepwater extraction scheme, and negative effects of shading measures on zooxanthellae are avoided.

The invention discloses an optical fiber silicon-based microstructure underwater acoustic sensor which is a non-intrinsic F-P air microcavity probe with optical signal interference formed by an optical fiber end face and a silicon-based thin film, the characteristic that the silicon-based thin film is sensitive to sound pressure signals is used for picking up sound pressure changes in a liquid sound field environment, the sound pressure changes are converted into the variable quantity of an optical signal interference phase, and the optical fiber silicon-based microstructure underwater acoustic sensor is obtained. Reducing a sound pressure signal in the liquid sound field through a detection demodulation algorithm; the microcavity probe is packaged by using an organic material thin shell structure, so that the hydrostatic pressure resistance of the underwater acoustic sensor is improved to adapt to application in a deep water environment; the optical fiber silicon-based microstructure underwater acoustic sensor comprises an acoustic sensing silicon microstructure, a microstructure sensing probe and a sensor pressure-resistant structure, according to the acoustic characteristic design of the acoustic sensing silicon microstructure, silicon oxide / silicon nitride and other materials are used as sensing materials, and membrane external stress recovery is achieved through internal stress residues. The method is easy to implement in design process, flexible in application and high in environmental adaptability, and can be applied to noise monitoring and target detection in various complex scenes.

The invention belongs to the technical field of dam settlement observation, and particularly relates to a dam deepwater area large deformation settlement observation device and method.The dam deepwater area large deformation settlement observation device comprises a main rod, and a floating assembly is arranged on the outer ring of the main rod; the floating assembly comprises a main body assembly and an additional assembly; and the bottom sinking assembly comprises a machine body assembly and a fixing assembly, and a detection assembly is arranged at the top of the machine body assembly. The overall length of the device can be adjusted according to the depth of a water area, the machine body assembly can rapidly sink into the water bottom, the machine body assembly can be rapidly fixed after sinking into the water bottom, energy can be supplied to the machine body assembly through an energy supply part of the additionally-installed assembly, the current water level is detected in real time, the applicability is improved, and the practicability is high. The water pressure of the current position of the machine body assembly can be detected in real time, the current water depth is speculated according to the water pressure, the surface of the detection assembly can be cleaned, and it is prevented that sludge accumulation affects normal use of the device.

A submarine cable for ultra-deep water. The submarine cable comprises: a plurality of cable cores, a plurality of pre-formed filler strips and an outer protective structure, wherein the plurality of cable cores are tightly twisted together; the plurality of pre-formed filler strips are arranged in gaps between the plurality of cable cores; the outer protective structure is wrapped around the peripheries of the plurality of cable cores and the plurality of pre-formed filler strips. Each pre-formed filler strip is provided with a cavity, which extends in the direction of length of the pre-formed filler strip, and through holes, which are arranged at intervals in the direction of length of the pre-formed filler strip and penetrate into the cavity in a radial direction; and the outer protective structure is provided with flow holes. When a submarine cable for ultra-deep water is laid and placed into a deep sea, seawater can enter gaps between a plurality of cable cores and cavities of pre-formed filler strips by means of flow holes, which allows the air inside the submarine cable to be completely discharged, so that the pressure inside and outside the submarine cable keeps balanced, thereby avoiding an internal structure of the submarine cable being crushed, and thus prolonging the service life of the submarine cable.

The invention provides an underwater humanoid dexterous hand, and particularly relates to the technical field of bionic machinery, according to the underwater humanoid dexterous hand, a spring electromagnet is used for locking a corresponding tendon rope group, then a soft body is driven to be connected into liquid, a sliding block slides on a sliding rod, the corresponding tendon rope group is pulled, and the tendon rope group is driven to rotate; the tendon rope set is driven to operate corresponding to the palm assembly or the finger assembly, object grabbing and other work are completed, the driving soft body is matched with hydraulic pressure to pull the tendon rope set to operate, and the robot can adapt to a deep water area and resist large water pressure.

The invention relates to the technical field of pipeline detection, in particular to a deep diving detection device for deepwater pipeline detection, which comprises an arc-shaped frame, a support frame, an adjustable telescopic plate, a propeller thruster, an execution frame, rollers, a controller and a detection instrument, the underwater pipeline detection device can solve the following problems in the process of detecting an underwater pipeline in the prior art: detection equipment in the prior art can only move along the outer wall of the pipeline and is easily blocked when encountering a pipeline flange, so that the equipment cannot normally move along the pipeline and perform detection, and the detection efficiency is influenced; the device can run in the length direction of the to-be-detected pipeline, during the period, a water body on the outer side of the to-be-detected pipeline is monitored in real time through a detection instrument, continuous advancing of the device is ensured, detection is rapidly completed, the detection efficiency is improved, the device can cross a flange, normal advancing of the device is ensured, and therefore continuous advancing type detection can be conducted on the to-be-detected pipeline; therefore, the detection efficiency is improved.

The invention relates to the technical field of pollutant detection, and discloses a deepwater sampling system and method, and the system comprises a collection module which is configured to determine a to-be-monitored water area, collect the area of the to-be-monitored water area, and determine an initial sampling frequency according to the area of the to-be-monitored water area; the judgment module is used for comparing the heavy metal ion change rate with a heavy metal ion change rate threshold value and judging whether the initial sampling frequency is adjusted or not according to a comparison result; the adjusting module is used for judging whether to correct the adjusted sampling frequency or not according to the real-time characteristic data so as to obtain a corrected sampling frequency; the processing module is configured to collect organic matter content data of the to-be-monitored water area according to the corrected sampling frequency, and determine the pollution level of the to-be-monitored water area according to the organic matter content data and the heavy metal ion concentration data. According to the invention, the accuracy of data acquisition is improved, and the high efficiency and adaptability of the sampling activity are ensured through real-time monitoring and dynamic adjustment.

The invention discloses an intelligent control method and system for a deep water cooling system of a reservoir in a data center, and relates to the technical field of cooling control, and the method comprises the steps: analyzing the cooling demand distribution of the data center, constructing a demand database, constructing a water source monitoring database in combination with the temperature, the water layer depth and the water quality monitoring data of the reservoir, and storing the water source monitoring database; the method comprises the following steps: decomposing a water taking treatment process and a cooling treatment process, extracting and fitting a relationship between control parameters and a treatment effect and energy consumption, searching optimal control parameters according to cooling demand data and a process flow, and generating cooling system control information. The technical problems that an existing data center cooling system cannot be dynamically adjusted according to real-time environment changes and water source conditions, so that the cooling effect is unbalanced, and energy is wasted are solved, the control parameters are dynamically optimized through an intelligent control method in combination with the real-time cooling requirement and water source monitoring data, and the cooling efficiency is improved. The technical effects of precise cooling and energy consumption reduction are achieved.

The invention discloses a marine ecology aquaculture net cage monitoring device and a working method thereof, and relates to the technical field of marine aquaculture monitoring, a stable sleeve is mounted at the top end of a mounting base, a connecting clamping block is slidably clamped to the inner side of the stable sleeve, a clamping groove is formed in the inner side of the stable sleeve, and the connecting clamping block is connected with the clamping groove in a sliding mode; the device is scientific and reasonable in structure and safe and convenient to use, the mounting base can smoothly and quickly move under the sea level through a waterproof driving motor and a driving roller, a deeper water area can be monitored more conveniently, and the device has the advantages that the device is simple in structure, convenient to use and high in practicability. According to the marine product living environment monitoring system, multiple groups of data at different water depths can be monitored, different data can be compared, living environment monitoring can be more accurately carried out on marine products at different water depths, water areas can be treated in time when problems occur, and the survival rate of the marine products is further improved.

The invention relates to a mine water depth sealing layer site selection evaluation method and system based on multi-parameter coupling. The method comprises the following steps: acquiring geological, hydrological and engineering parameters through geological exploration equipment and the like, and carrying out wavelet transform noise reduction and Kriging interpolation processing; determining a key parameter set and weight by using an analytic hierarchy process, constructing a comprehensive evaluation model coupling the analytic hierarchy process and fuzzy mathematics, and generating a membership matrix and a multi-field coupling numerical model; and calculating a fitness index through spatial overlay analysis, generating a sealing suitability partition map, outputting an evaluation report containing risk early warning, and generating an interactive three-dimensional site selection decision interface. The system comprises a data acquisition and preprocessing module, a parameter processing module, a weight distribution module and the like. The simulation precision and the risk positioning efficiency are improved, and a comprehensive evaluation scheme is provided for site selection of the sealing layer of the water depth of the mine.

The invention relates to the technical field of ship motion control, and particularly discloses a ship dynamic positioning control method and system for a full-water-depth sea area, and the method comprises the steps: S1, measuring the water depth in real time, and calculating the water depth-to-draft ratio through combining with the ship draft; s2, according to the water depth-to-draft ratio, a water depth self-adaptive ship body dynamic model is updated; s3, calculating real-time optimal control force by utilizing an optimal quadratic index according to the updated water depth self-adaptive ship body dynamic model; and S4, performing dynamic positioning control according to the real-time optimal control force. The dynamic positioning system can be compatible with control requirements of deep water and shallow water operation areas, and the problems of control drift, instability divergence and the like caused by inertia increase, damping increase and thrust loss of a ship body in a shallow water area are solved.

The invention relates to a self-adaptive underwater image enhancement system and method suitable for medium-deep water turbid scenes, and belongs to the technical field of underwater image enhancement. Comprising the following steps: S1, selecting a reference channel based on RGB channel pixel mean value distribution of an underwater image, performing adaptive color compensation on an attenuation channel, and automatically optimizing compensation parameters through a particle swarm optimization algorithm; s2, global contrast enhancement and local contrast enhancement are carried out on the image after color compensation, the global contrast enhancement adopts an improved histogram double-end stretching method, and the local contrast enhancement adopts a CLAHE algorithm combined with guiding filtering noise reduction; and S3, performing multi-scale fusion on the global contrast enhancement result and the local contrast enhancement result based on an image pyramid technology, and generating a final enhanced image through weight distribution and layered reconstruction. A self-adaptive color channel compensation formula is provided, and self-adaptive color compensation is performed on channels which are easy to attenuate, so that the problem of color cast is solved, and the visual effect of an image is remarkably improved. By further enhancing the contrast and improving the texture of the underwater image after the color cast is improved and utilizing an image pyramid technology to realize multi-scale fusion, the problems of blurring and low contrast caused by underwater scattering particles in the prior art are solved.

The invention provides an underwater gravel foundation bed leveling device and a leveling method thereof.The underwater gravel foundation bed leveling device comprises a ship body, a leveling device body is arranged at the bottom of the ship body, the leveling device body comprises an outer frame, outer supporting leg oil cylinders are arranged at the four corners of the outer frame, a sliding leveling mechanism is arranged on the outer frame, and inner supporting leg oil cylinders are arranged at the four corners of the leveling mechanism; an elevation adjusting oil cylinder is arranged at the top of the leveling mechanism. The leveling device is automatically adjusted to be in a horizontal state, then the height of the outer frame is measured, the leveling head is automatically adjusted to the needed height according to the set leveling thickness, the thrust oil cylinder is controlled to move, and leveling of the leveling head at one station of the frame of the support is achieved. Walking type advancing of the leveling robot is achieved through interactive supporting of the four outer supporting leg oil cylinders and the four inner supporting leg oil cylinders, automatic leveling of an underwater gravel outer frame and automatic leveling of the whole device can be achieved through fusion and coordination of multiple sensors, and the problems that a traditional mode is difficult to adapt to deep water and low in construction efficiency are solved.

The invention discloses a liftable floating bottom structure device suitable for a deepwater experiment, and relates to the technical field of deepwater experiment pools. Comprising a floating bottom body, a lifting mechanism, a jacking device and a distributed detachable platform, each lifting mechanism comprises a winch, a steering pulley and a steel wire rope, one end of the steel wire rope is connected with the winch, and the other end of the steel wire rope bypasses the steering pulley located at the bottom of the deepwater experiment pool and is connected with the floating bottom body; the jacking device comprises an air cylinder, a connecting shaft, a guide wheel and a base, the air cylinder located on the base is connected with the guide wheel through the connecting shaft, and the guide wheel is connected with the guide sliding groove of the floating bottom body in a clamped mode. The distributed detachable platform is laid on the floating bottom body through the connecting support. The floating bottom device has the capability of performing experimental simulation on deepwater, shallow water and land structures at the same time, the working efficiency is improved, the labor cost is reduced, and the experimental requirements of a deepwater experimental pool model are better met.

The invention relates to the technical field of robots, and discloses a robot leg walking mechanism and a quadruped robot, the robot leg walking mechanism comprises a plurality of big arms, one side of each big arm is connected with a floating assembly, the floating assembly comprises a connecting box and an air bag, the connecting box is fixedly connected with one side of the big arm, and a placing groove is formed in the side, away from the big arm, of the connecting box; an air bag is fixedly connected into the containing groove, one side of the big arm is sequentially connected with an inflation assembly, a deflation assembly and an air injection assembly from top to bottom, and one side of the connecting box is connected with a closing assembly. According to the robot leg walking mechanism and the quadruped robot, by means of the floating assembly, the quadruped robot can keep floating in a deep water area, so that a robot body is prevented from being completely immersed in water, the risk that a camera lens is stained with water is reduced, and the quality and accuracy of real-time image transmission are ensured; therefore, a clear visual field and stable walking capability are provided for the quadruped robot, visual misjudgment or distortion can be reduced, and the accuracy and efficiency of inspection tasks are improved.

The invention is suitable for the technical field of multi-source data processing, and provides a water body adaptive extraction method based on multi-source remote sensing data fusion, and the method comprises the steps: obtaining multi-source data of a target region, constructing an improved water body index based on optical remote sensing image data, and enhancing the spectral separation degree of a deep water region and a shallow water region; constructing a scattering feature distinguishing rule set based on synthetic aperture radar image data, and separating a water body from typical interference ground features; generating a terrain gradient constraint condition based on the digital elevation model data; generating a fusion data set according to the improved water body index, the scattering feature distinguishing rule set and the terrain gradient constraint condition; dynamically segmenting the fused data set through an adaptive threshold segmentation algorithm to obtain an initial water body extraction result; and performing mixed pixel decomposition and morphological boundary optimization processing on the initial water body extraction result to generate an optimized result, and outputting a water body spatial distribution diagram, thereby effectively improving the water body extraction precision, the adaptability to complex scenes and the anti-interference capability.

The utility model provides an underwater explosion efficient shaped charge cutting device based on combined charge, which comprises an underwater annular shaped charge structure and a positioning device, the positioning device is connected with a semi-annular shaped charge structure through a connecting device, and the outer side of the semi-annular shaped charge structure is connected with a detonator; the two positioning devices are arranged on the outer side of the cutting position of the target tubular structure, and the two positioning devices are fixed to each other; the two semi-annular shaped charge structures are arranged on the outer side of the cutting position of the target tubular structure, the two semi-annular shaped charge structures are fixed to each other, and each semi-annular shaped charge structure comprises a plurality of equally-divided cutting units. The cutting end face formed by the underwater explosion cutting device has high fairness, the refinement level of underwater explosion cutting is improved, the underwater explosion cutting device is suitable for cutting tubular structures in any direction and with any structural parameters on the seabed, deep water cutting operation can be achieved, and the underwater explosion cutting device can also be used for cutting structures with rigid body displacement after underwater explosion of flexible bodies such as steel cables, optical cables and electric cables.

The present invention relates to a double-walled steel cofferdam with no bottom and a construction method for deep-water rock capping platform rotary excavation. The BIM three-dimensional simulation technology is used to accurately design the size of the cofferdam module and the position of the preset holes, which greatly improves the accuracy and efficiency of the construction. By solving the problems of module size and layout in the design stage, the installation and commissioning work on site can be significantly reduced, thereby speeding up the construction progress and ensuring the quality of the project. The quick connection method of prestressed tendons and extruded waterproof strips is adopted between the cofferdam modules, which saves a lot of welding work, not only improves the construction efficiency but also reduces the construction difficulty. The guide device used for the lowering of the cofferdam is used for horizontal and vertical displacement and inclination monitoring, which can help the cofferdam lowering process more accurately, and greatly improve the construction efficiency and safety. The comprehensive slotting method of impact drill, rotary drilling drill and grab bucket greatly improves the slotting efficiency and reduces the slotting difficulty.

The invention relates to a deep and far sea ultra-deep water drilling risk early warning method based on multi-algorithm fusion, and the method comprises the steps: S1, obtaining the original time sequence data of a plurality of preset physical parameters of a to-be-early-warned drilling well; s2, performing preprocessing of signal decomposition and denoising processing on the original time sequence data of each physical parameter to obtain corresponding data to be analyzed; s3, for the to-be-analyzed data of each physical parameter, predicting a corresponding risk category and a probability thereof based on a pre-constructed time sequence prediction model; and S4, integrating the risk categories corresponding to all the preset types of physical parameters and the probabilities thereof, and calculating the finally predicted risk category and probability based on an evidence theory.

The intelligent robot comprises a ship body, a garbage can used for storing garbage and a power module used for driving the ship body to advance, a material collecting opening is formed in the front portion of the ship body in the advancing direction, and the power module is arranged on the rear portion of the ship body in the advancing direction; a mounting opening is formed in the top of the ship body, the garbage can is detachably mounted on the ship body through a quick release mechanism, and the garbage can is provided with a feeding opening opposite to the collecting opening; a battery module for supplying power to the power module is arranged at the bottom of the ship body, and a water-cooling heat dissipation mechanism is further arranged on the battery module. The robot can work for a long time, the maintenance and operation cost is far lower than the cost of employment of cleaning personnel for a long time, meanwhile, the cleaning risk of manual work in a deep water area or in severe weather is effectively reduced, the cleaning efficiency of lake surface garbage is improved, and the safety is also improved.

The invention provides an automatic pool cleaning device, a control method thereof and a computer storage medium. The control method comprises the steps that the automatic pool cleaning device is controlled to advance in a pool according to a preset path; in the advancing process of the automatic pool cleaning device, whether the automatic pool cleaning device moves to a shallow water area or not is monitored; and under the condition that the automatic pool cleaning device moves to the shallow water area, the automatic pool cleaning device is controlled to move from the shallow water area to the deep water area. According to the method, under the condition that the automatic pool cleaning device moves to the shallow water area, the automatic pool cleaning device is controlled to smoothly move from the shallow water area to the deep water area, then the robot can normally conduct subsequent cleaning work in the deep water area, and the cleaning efficiency of the automatic pool cleaning device is improved.

The utility model discloses a water depth adjusting device of a test pool, and relates to the technical field of deepwater test pools. Comprising a floating bottom body, a lifting mechanism, a jacking device and a distributed detachable platform, each lifting mechanism comprises a winch, a steering pulley and a steel wire rope, one end of the steel wire rope is connected with the winch, and the other end of the steel wire rope bypasses the steering pulley at the bottom of the deepwater experiment pool and is connected with the floating bottom body; the jacking device comprises an air cylinder, a connecting shaft, a guide wheel and a base, the air cylinder located on the base is connected with the guide wheel through the connecting shaft, and the guide wheel is connected with the guide sliding groove of the floating bottom body in a clamped mode; the jacking devices are symmetrically arranged on the two sides of the floating bottom body. The distributed detachable platform is laid on the floating bottom body through the connecting support. The device can meet the water depth requirement in an ocean engineering experiment, meet the ground elevation requirement in a civil engineering experiment and a wind tunnel experiment, and meet the requirement that the floating bottom does not move, rotate or get stuck in the operation process of experimental equipment.

The invention discloses a multi-probe high-pressure-resistant underwater target sonar detector, and belongs to the technical field of sonar detectors, the multi-probe high-pressure-resistant underwater target sonar detector comprises a detector body, a connecting disc, a water removal mechanism and a pressure-resistant mechanism, the upper surface of the detector body is provided with a display screen and a controller, and the detector body is also provided with an inner cavity; a first partition plate and a second partition plate are arranged at the open end of the inner cavity, the closed end of the inner cavity is in bearing connection with one end of a rope winding shaft, the other end of the rope winding shaft sequentially penetrates through the first partition plate and the second partition plate through bearings and then is coaxially and fixedly connected to one side of a connecting disc, and a rocker is installed at the eccentric position of the other side of the connecting disc. After the sonar probe is used, moisture on the outer skin of the data line can be thoroughly removed, the problem that the removing effect is reduced along with the increase of time can be avoided, in addition, it can be guaranteed that the sonar probe has high anti-pressure capacity, and therefore the sonar probe can be used in a deep water area.