230 results about "Marine currents" patented technology

The invention discloses a real-time ocean simulation method and system based on sensing data, and relates to the technical field of ocean information engineering and intelligent sailing. A graph neural network is combined with a multi-head attention mechanism to carry out data fusion, importance of different sensors and data time steps is dynamically weighted, and real-time ocean simulation is realized. According to the method, the quality difference and missing conditions of heterogeneous data are adaptively processed, the deviation and noise influence in the fusion process are reduced, meanwhile, physical consistency constraints such as mass conservation and boundary non-penetration are introduced, the physical rationality and smoothness of an output ocean current field are guaranteed, non-physical artifacts are avoided, and the reliability and practicability of a result are enhanced; a streaming updating mechanism allows a graph structure and model parameters to be rapidly and incrementally updated when new data arrives, data processing and assimilation delay are greatly reduced, and nearly real-time ocean current forecasting is realized, which is crucial to a ship autonomous navigation system, and accurate ocean current information can be timely provided to support dynamic path planning and risk avoiding decision making.

The invention discloses an ocean current extraction method and system, and relates to the technical field of data processing, and the method comprises the steps: building causal priori from SWOT satellite observation data based on a set variation assimilation system and a structural equation model; wherein the causal priori comprises a causal path and strength between wind stress forcing and ground rotation adjustment; carrying out iterative generation through a physical constraint diffusion model under the conditions of causal priori and SWOT satellite observation data, and outputting a sea surface flow field; performing multi-level interpretability verification on the causal path and the step of performing iteration generation through the physical constraint diffusion model to obtain a verification result; a verification result is fed back to the structural equation model and the physical constraint diffusion model to form closed-loop optimization, and then the optimized sea surface flow field is obtained. According to the method, iteration is carried out through the physical constraint diffusion model to generate the sea surface flow field, multi-level interpretability verification is carried out, the sea surface flow field can be optimized by utilizing the verification result, and high-resolution ocean current acquisition is realized.

The invention discloses an anti-scouring system for an offshore pile foundation, belongs to the technical field of offshore pile foundations, and can solve the problems that in the prior art, the installation difficulty is large, and the adaptability to the marine environment is poor. The system comprises a plurality of spoilers which are annularly distributed in the circumferential direction of the pile foundation. The horizontal plane projection of the spoiler is in a symmetrical sharp corner shape, the spoiler comprises a sharp corner end and a diffusion end which are opposite to each other, the sharp corner end is elastically connected with the pile foundation and can vertically swing under the action of ocean current, and the diffusion end overhangs in the direction away from the pile foundation; the center axis of the spoiler intersects with the axis of the pile foundation, and the sharp corner end is higher than the diffusion end. The spoiler is provided with two wing plates which are symmetrically distributed along the central axis of the spoiler, and the section of each wing plate on the section perpendicular to the central axis is in a concave arc shape. And a gap is formed between the diffusion ends of the adjacent spoilers. The anti-scour protection device is used for anti-scour protection of the offshore pile foundation.

The invention discloses a sediment collection and supply integrated device for offshore wind turbine pile foundation scour prevention, which is arranged around the periphery of an offshore wind turbine single pile foundation, relates to the technical field of offshore wind power engineering, and comprises an annular sand collection unit, a sand storage unit, a sand unloading unit and a sand supply guide unit which are communicated from top to bottom; the annular sand collecting unit guides sediment in ocean current to be deposited and collected, the sand storage unit receives and stores the collected sediment, and the sand unloading unit can seal a bottom outlet of the sand storage unit in an opening and closing mode; the sand supplementing guide unit directionally guides the discharged silt to the scouring pit; the mechanical triggering unit and the elastic resetting unit are used for opening and resetting the sand unloading unit. Sediment carried by ocean current is utilized, through pure mechanical passive operation, integrated self-circulation of collection, storage, triggering, release and supply of the sediment is achieved, external energy is not needed, the self-adaptive adjusting capacity is achieved, and the construction and operation and maintenance cost is remarkably reduced.

The invention provides an ultra-short baseline calibration method, device and system, and belongs to the technical field of underwater acoustic measurement, and the ultra-short baseline calibration method comprises the following steps: according to an antenna phase center position, a carrier instantaneous attitude, a distance and azimuth information at each observation moment, and installation parameters of an ultra-short baseline acoustic transducer relative to an inertial navigation system, carrying out calibration on the ultra-short baseline; establishing a distance equation between the ultra-short baseline acoustic transducer and the ultra-short baseline acoustic beacon at each observation moment; establishing a residual equation of each distance equation; and solving the residual equation through a nonlinear least square method to obtain installation parameters. According to the method, the installation parameters of the ultra-short baseline acoustic beacon can be efficiently and accurately calibrated, and the problems that beacon laying and recycling operation is complex, cost is high, the operation period is long, efficiency is low, and the beacon is prone to drifting due to the influence of ocean currents are effectively solved.

The invention discloses a multi-physics field coupling numerical method for simulating wave-ocean current-earthquake-seabed interaction, and relates to the technical field of ocean engineering numerical simulation, and the method comprises the following steps: model construction, load application, coupling solution, and result analysis and application. According to the method, revolutionary simulation of collaborative response of a seabed and a structure in a complex marine environment and multi-physics field high-precision bidirectional coupling of random waves, steady-state ocean currents and seismic excitation are realized by constructing a total-factor coupled high-precision numerical model, the problems of incomplete coupling dimensions and excessive model simplification of a traditional method are solved, and the method has the advantages of being high in practicability and high in reliability. According to the wave-induced seabed liquefaction simulation method, the simulation result and the actual working condition coincidence degree are remarkably improved, the frequency domain transfer function method is introduced to analyze the seabed pore pressure response, the cognitive depth and the prediction precision of the wave-induced seabed liquefaction mechanism are remarkably improved, and in addition, through efficient algorithms such as GPU parallel calculation, self-adaptive grids and frequency domain-time domain mixed solution, the wave-induced seabed liquefaction simulation method has the advantages that the wave-induced seabed liquefaction simulation precision is improved. And the calculation efficiency is greatly improved while the precision is ensured.

The invention belongs to the technical field of ocean new energy, and provides an anchor system multi-floating-body array wave flow motion response analysis method and system, and the technical scheme is that a joint simulation method of multi-body dynamics and computational fluid mechanics is adopted to carry out the comprehensive modeling and analysis of a mooring type multi-floating-body array, and the wave flow motion response analysis of the mooring type multi-floating-body array is realized. A universal joint connection structure for platform connection is designed, and an equivalent concentrated mass-spring unit is introduced to simplify modeling of a mooring chain. Joint simulation is implemented in a numerical wave generation and ocean current pool, and hydrodynamic force and structural response of the anchor system multi-floating-body array system under the steady-state ocean current and regular wave conditions is evaluated; the system studies the influence of the size of the floating ball, the weight of the mooring chain and the flow velocity on the hydrodynamic performance and the platform stability. And the performance requirements in a complex marine environment can be better met.

The invention relates to the technical field of data processing, and discloses an ocean net cage structure determination method based on simulation optimization. The method comprises the steps that ocean current, wave and water depth data are collected through an ocean environment sensor, and a standardized parameter set is obtained through preprocessing; constructing a net cage load calculation model, and carrying out finite element stress analysis; calculating a stability index based on stress distribution, and establishing a constraint condition; establishing a multi-objective optimization function, and considering cost and strength parameters; performing global optimization by adopting a genetic algorithm to generate a candidate scheme library; and optimal parameters meeting the bearing capacity and economical efficiency requirements are screened, and a final net cage structure configuration scheme is determined. According to the method, global multi-objective optimization of the net cage structure parameters under the complex marine environment condition is realized, so that the optimal net cage structure configuration scheme meeting the requirements of structure safety, economy and engineering practicability at the same time is obtained.

The invention discloses a remote sensing and marine observation data fusion method and system based on two-dimensional variation, and relates to the technical field of marine sciences, and the remote sensing and marine observation data fusion method based on two-dimensional variation comprises the steps: obtaining marine satellite remote sensing data, extracting marine dynamic features, and obtaining marine satellite remote sensing data; constructing an ocean dynamic characteristic thermodynamic diagram as a two-dimensional observation field; the method comprises the following steps: acquiring temperature, salinity and ocean current data of different depth profiles in real time by using an ocean buoy observation network, generating a two-dimensional ocean state background field in combination with ocean historical data and a spatial interpolation method, and estimating a background error covariance matrix of the two-dimensional ocean state background field; taking the minimum difference between a two-dimensional ocean state background field and multi-source marine satellite remote sensing data and ocean buoy observation as a target, combining with a background error covariance, constructing a two-dimensional variational cost function, calculating an optimal ocean state analysis field, and obtaining spatial continuous two-dimensional ocean state optimal estimation. The method has the beneficial effect that the precision and practicability of marine environment monitoring and prediction are improved.

The invention discloses an enteromorpha green tide full life cycle wind action coefficient determination method, and belongs to the field of enteromorpha green tide drift prediction. The method comprises the following steps: S1, acquiring satellite remote sensing images of enteromorpha green tide in different development stages, and interpreting the satellite remote sensing images to obtain enteromorpha green tide distribution data; and / or acquiring sea drift tracking observation data of enteromorpha green tide at different development stages; s2, constructing an enteromorpha green tide short-term drift numerical model; s3, acquiring surface ocean current and sea surface wind data of the research sea area; s4, determining optimal wind action coefficients of the enteromorpha green tide in different development stages; and S5, performing quadratic polynomial fitting, establishing a wind action coefficient dynamic model suitable for the enteromorpha green tide full life cycle, and further determining an enteromorpha green tide full life cycle wind action coefficient value. According to the method, the prediction precision of the enteromorpha green tide drift path can be improved.

The invention discloses an omni-directional ocean current energy capturing device based on a friction nanometer generator. The omni-directional ocean current energy capturing device comprises a device shell, a base, an elastic supporting rod and a plurality of friction nanometer power generation units. A closed cavity is formed in the device shell; the two ends of the elastic supporting rod are fixedly connected with the base and the device shell. The multiple friction nanometer power generation units are evenly distributed on the inner wall of the closed cavity of the device shell in the circumferential direction. When the energy capturing device is placed in water, the device shell is suspended in the water under the traction of the base and the elastic supporting rod, and the device shell swings in a reciprocating mode under the traction of the elastic supporting rod under the driving of water flow, so that the friction layer and the first electrode layer make contact with each other in a reciprocating mode and are separated from each other. The omni-directional ocean current energy capturing device based on the friction nano-generator disclosed by the invention has the advantages of omni-directivity, simple and reliable structure and high energy conversion efficiency, and is particularly suitable for capturing and converting low-frequency and multi-directional ocean current energy in an ocean environment.

The application discloses a sea area change monitoring method, device and equipment and a storage medium, and relates to the technical field of sea area monitoring. The method comprises the following steps: performing super-resolution reconstruction based on target sea area boundary data at a set monitoring frequency to obtain remote sensing images of the target sea area; extracting scattered planar vector patches of culture facilities from the remote sensing images; determining culture range patches of the culture facilities according to the outer convex surface boundary geometry of the midpoint element patch in the scattered planar vector patch; analyzing NetCDF sea current multidimensional data, generating format grid sets including different direction flow rates and wind speed value vector fields according to the step length of the set monitoring frequency; determining a regression coefficient map according to the spatial relationship between the different direction flow rates and the wind speed, and monitoring the culture facilities by using the regression coefficient map. The application takes into account the influence of flow rates, flow directions and wind speeds on the position distribution of the culture facilities, and can efficiently and accurately monitor the temporal and spatial changes of the culture sea area by combining the analysis of the NetCDF data.

A deep-sea platform energy self-supply apparatus and a control method therefor. The apparatus comprises a work platform (1) of the deep-sea platform, and further comprises: pontoons (2) mounted at the bottom of the work platform (1); a wave energy piezoelectric assembly (3) which is provided at the bottom of the work platform (1), moves around the periphery of the pontoons (2), and can consume wave energy and convert wave energy into electrical energy; and a marine current energy piezoelectric assembly (4) provided at the bottoms of the pontoons and capable of consuming marine current energy and converting marine current energy into electrical energy. The angles and heights of wave energy piezoelectric plates (3) and marine current energy piezoelectric plates (4) are adjustable, which can effectively improve the energy conversion efficiency and consume fluid kinetic energy during the conversion of fluid kinetic energy into electrical energy such that the amplitude of waves decreases as fluid kinetic energy decreases, thereby implementing a wave dissipation effect and facilitating the improvement of the stability of the deep-sea platform.

The application discloses a marine buoy multi-source fusion positioning method and system based on a factor graph optimization, which acquires GNSS observation data, IMU measurement data and marine environment auxiliary data; a factor graph containing state nodes, GNSS position factors, IMU pre-integration factors and marine dynamics constraint factors is constructed, and wave and current theories are used to constrain buoy movement; in view of multipath effects, marine surface reflection geometry and marine root mean square wave height are combined to calculate a multipath weighting factor, and a GNSS covariance matrix is adaptively adjusted; according to IMU data, a sea state level is discriminated, and an edge window length and a trigger interval of incremental smoothing solving are adaptively linked and adjusted; through adjacent buoy ranging information, collaborative constraints are constructed, and based on Mahalanobis distance and chi-square distribution threshold value detection, abnormalities are detected and local reconstruction is performed. The application effectively suppresses marine surface multipath interference, slows down the accumulation of calculation errors during signal interruption, and realizes high-availability continuous positioning under limited computing power.

This invention discloses a multi-scale time-frequency analysis method and system for ocean current meter signal processing, relating to the field of marine information processing. The method includes: S1: acquiring raw data and performing physical benchmark correction to obtain three-dimensional current velocity data and basic mass labels; S2: extracting first and second features from the three-dimensional current velocity data through spatiotemporal decoupling; S3: fusing and separating the three-dimensional current velocity data based on the first and second features to obtain an optimized set of flow field parameters, and generating the uncertainty of each parameter by combining the basic mass labels and error source information; S4: performing comprehensive quality assessment and grading based on the first and second features and the uncertainty, outputting a data product with mass labels and uncertainty information. By extracting spatiotemporal dual-dimensional features and using them to guide signal fusion and quality assessment, highly robust processing of ocean current data and end-to-end quality traceability are achieved, significantly improving the reliability of the data product.

The invention provides a self-power-generation type offshore buoy based on vortex-induced vibration and a power generation method, and belongs to the technical field of buoy power generation. The buoy comprises a buoy body, a rotating pipe and a buffering mechanism, a tail pipe is arranged on the lower side face of the buoy body, a balancing weight is arranged at the lower end of the tail pipe and connected with a fixing anchor through a steel cable, the rotating pipe is rotationally arranged on the tail pipe, two rotating plates are hinged to the rotating pipe, and the rotating plates are connected with the buffering mechanism. The two rotating plates are arranged in parallel, vibrators are arranged on the opposite sides of the two rotating plates in a sliding mode, the vibrators are connected with nanometer friction power generation assemblies, the nanometer friction power generation assemblies can generate power through horizontal sliding of the vibrators, and the buffering mechanism is arranged between the two rotating plates and plays a role in buffering rotation of the two rotating plates. Vortex-induced vibration can be generated through ocean currents around the tail pipe to generate power, the cruising ability of the buoy is improved, and meanwhile impact of the ocean currents on the tail pipe is reduced.

This application relates to the fields of SAR signal processing and marine remote sensing applications, and provides a method and apparatus for sea surface current field inversion based on electromagnetic vortex wave radar data. The method determines the Doppler spectrum using electromagnetic vortex wave radar image data, obtains the measured frequency position of the trough feature point in the Doppler spectrum, and determines the theoretical frequency position using the position and angle of the two main lobes and the angle of the trough feature point in the radar antenna pattern. Then, the difference between the measured frequency position and the theoretical frequency position is used to obtain the anomalous frequency offset. Next, the Doppler frequency offset caused by wind and wave motion is removed from this anomalous frequency offset to obtain the target Doppler frequency offset. Finally, the radial velocity of the sea surface is calculated using the Doppler frequency offset, thus realizing sea surface current field inversion. This effectively expands the applicability of the Doppler frequency shift-based ocean current inversion method and improves the application potential of electromagnetic vortex wave radar in sea surface current field detection.

This invention provides a deep-sea submersible ocean current energy capture device, belonging to the field of ocean current power generation technology. It includes a top buoy, an ocean current energy capture device, stabilizing fins, a bottom plate energy storage system, a heave balancing mechanism, and an anchoring mechanism. The top buoy is installed on top of the ocean current energy capture device, providing buoyancy for the entire device. The ocean current energy capture device captures ocean current energy and converts it into electrical energy. The stabilizing fins are installed on both sides of the ocean current energy capture device to ensure its balance. The bottom plate energy storage system is installed at the bottom of the ocean current energy capture device to store the electrical energy generated by the device and can also directly supply power. The heave balancing mechanism is installed at the bottom of the bottom plate energy storage system to ensure vertical balance and reduce device vibration. The anchoring mechanism is arranged around the heave balancing mechanism to provide tension, ensuring the entire device is stress-balanced. The number of ocean current energy capture devices can be increased or decreased according to actual needs, making it widely adaptable, easy to use, and simple in structure.

The invention relates to the technical field of artificial intelligence, and discloses a regional ocean current analysis method and device, and the method comprises the steps: obtaining the observation data of a regional ocean current, carrying out the standardization processing of the observation data, generating standardized ocean current data, and calculating the data point distribution density of the standardized ocean current data, so as to obtain the data point distribution density of the regional ocean current, the method comprises the steps of performing dynamic self-adaptive grid division on regional ocean current based on data point distribution density, generating a non-uniform grid structure, performing numerical interpolation calculation on the non-uniform grid structure based on standardized ocean current data, generating an initial interpolation result of the regional ocean current, performing algorithm correction on the initial interpolation result, generating a corrected interpolation result of the regional ocean current, and obtaining the corrected interpolation result of the regional ocean current. Performing root-mean-square error analysis on the corrected interpolation result to generate a final interpolation result of the regional ocean current; the method can solve the problem that the analysis conclusion deviates from reality due to the reduction capability of the limit interpolation result to the actual ocean current distribution condition and error accumulation.

The application provides a simulation method and system for the interaction between seabed topography and ocean current, comprising: obtaining high-resolution seabed topography data, generating an adaptive grid structure, and constructing fine topography description data; generating interaction data between the ocean current field and the topography by using a turbulence closure model according to the fine topography description data; simulating a nonlinear process to generate nonlinear process characteristic data according to the interaction data; generating ocean mixing process data by using a particle tracking method according to the nonlinear process characteristic data; optimizing turbulence parameters to generate optimized turbulence mixing data according to the ocean mixing process data; and updating the simulation of the ocean current field to generate high-precision ocean current field distribution data according to the optimized turbulence mixing data. The application can improve the simulation accuracy of ocean dynamic processes under complex topography conditions and provide important support for ocean environment prediction and resource development.

The application discloses a scouring protection and active repair device for offshore wind power large-diameter single-pile foundation, relates to the technical field of offshore single-pile wind turbine foundation protection, and comprises a sand filtering and flow disturbing assembly and a scouring pit repair assembly, the sand filtering and flow disturbing assembly is arranged around the single-pile foundation to intercept and collect silt carried by sea current; wherein the scouring pit repair assembly comprises a lifting ring, a connecting rod and a silt scraping plate, the lifting ring is arranged on the outer wall of the single-pile foundation in a lifting and rotating mode, the silt scraping plate is connected with the lifting ring through the connecting rod, and the silt scraping plate pushes the silt collected by the sand filtering and flow disturbing assembly into the scouring pit under the driving of the lifting ring; and the application further comprises a monitoring assembly for monitoring the formation of the scouring pit around the single-pile foundation. The application integrates real-time monitoring, active repair and self-power supply functions, realizes sand filtering and flow disturbing, lifting and rotating silt scraping cooperative operation, accurately fills and resets the scouring pit, effectively inhibits the development of scouring, and significantly improves the safety and service life of the pile foundation.

The invention relates to a system (2) for ascertaining prediction data. The system (2) has a floating unit (4) and a remote base unit (6). The floating unit (4) has a coupling unit (8), a floating hose (10) and a detection system (12). A first end (14) of the floating hose (10) is connected to the coupling unit (8). The detection system (12) is designed to detect, as actual arrangement, a present geometric arrangement of the floating hose (10) relative to the monitoring unit. In addition, the detection system (12) is configured to detect and / or ascertain, as actual location, a present geographical location of the floating unit (4). The detection system (12) is additionally designed to ascertain actual location data which represent the actual location and the actual arrangement. The floating unit (4) is designed to transmit the actual location data via a signal link (18) to the base unit (6). The base unit (6) is designed to receive, as actual weather data, present weather data which represent the present wind strength, the present wind direction, a prediction of the wind strength and / or a prediction of the wind direction in each case of the wind at the actual location. The base unit (6) is additionally designed to receive, as actual sea data, present sea data which represent the present current strength, the present current direction, a prediction of the current strength and / or a prediction of the current direction in each case of the water at the actual location.

The invention relates to the technical field of underwater vehicles. The invention provides a self-powered unmanned underwater vehicle, which comprises a vehicle shell, an unmanned aerial vehicle, a power supply device and a power supply device, the energy storage device is arranged in the accommodating cavity; the self-power supply device is connected with the aircraft shell, the self-power supply device is electrically connected with the energy storage device, and the self-power supply device is used for rotating relative to the aircraft shell under the driving of ocean current energy to generate electric energy and storing the electric energy in the energy storage device; the self-powered device comprises a recovery state and an extension state, when the vehicle works normally, the self-powered device is in the recovery state, and when the vehicle is charged, the self-powered device is in the extension state. The self-powered device generates electric energy by using ocean current energy, the electric energy is stored in the energy storage device, and the energy storage device provides running power for the aircraft, so that the electric power storage capability of the deep sea observation equipment is improved, and the deep sea observation efficiency is improved.

The present application relates to the technical field of construction equipment for scour protection of a subsea pile foundation of a sea-crossing bridge, and particularly relates to a construction robot for in-situ mixing and solidification of scour protection of a sea-crossing bridge and a construction method, characterized in that: a water retaining device is arranged on the water-approaching side of the subsea pile foundation, a construction relative still water area in which artificial low-speed sea currents are formed is formed on the inner side of the water retaining device, a moving cross beam is arranged on the water retaining device, a circumferential driving device is arranged between the water retaining device and the moving cross beam, a moving seat is arranged on the moving cross beam, a radial driving device is arranged between the moving seat and the moving cross beam, and an in-situ mixing device is arranged on the moving seat. The present application can form a small-range construction relative still water area in-situ mixing and solidification on the water-approaching side of the subsea pile foundation, can greatly reduce the loss of in-situ mixing and solidification soil in the scour area of the subsea pile foundation, improve the retention effect, greatly reduce material waste, construction cost and cost, and can actively adjust the mixing area and depth according to the range of scour protection required.

This invention relates to an AUV close-range docking method based on sliding mode adaptive control under ocean current interference. The controller design eliminates decoupling of the AUV's motion and incorporates an integral term in the sliding mode adaptive controller design, employing Integral Sliding Mode Adaptive Control (ISMAC) to minimize chattering during the AUV's approach motion. Finally, in designing the control parameters, overshoot is minimized at the expense of settling time to ensure successful docking. Furthermore, the estimation of ocean current velocity gives the system a certain degree of anti-interference capability, demonstrating its robustness.

This utility model belongs to the technical field of marine oil and gas and power development equipment, and discloses a vibration damping device for marine risers and submarine cables. The device includes a damping cylinder, a positioning component, a support rod, a sleeve half-ring, bolt holes, and bolts. The damping cylinder is rigidly connected to the sleeve half-ring via the support rod and consists of two symmetrical half-cylinder structures, which are bolted together and fitted around the marine riser or submarine cable. The positioning component can be quickly installed and removed, providing reliable axial positioning for the vibration damping device. This utility model achieves efficient vibration reduction based on the synergistic mechanism of added mass efficiency and hydrodynamic damping energy dissipation. It has a simple structure, convenient and diverse installation methods, and is unaffected by ocean current direction or component attitude, making it widely applicable to vibration control of marine pipelines.

The application relates to an unmanned underwater vehicle path planning method based on an improved SAC algorithm, and comprises the following steps: obtaining state data of an unmanned underwater vehicle in an underwater environment; a simulation experiment environment is built based on a Gym framework, physical parameters of the unmanned underwater vehicle, geometric shapes of seabed obstacles and current characteristics are simulated, and an interactive feedback mechanism of an environment state and unmanned underwater vehicle action is constructed; a path planning algorithm based on an improved SAC is constructed, a heuristic exploration mechanism is introduced on the basis of the SAC algorithm, heuristic actions are generated based on Euclidean distance or actions are generated through a strategy network, and a multi-target reward function is designed; state data is input into the path planning algorithm, actions of the unmanned underwater vehicle are generated through the strategy network, the value of the actions is evaluated in combination with a value network, network parameters are updated by using the interactive feedback mechanism, and a path planning strategy is optimized. Compared with the prior art, the application has the advantages of fast convergence in a complex underwater environment, good adaptability and the like.

The invention discloses an underwater ocean current energy power generation device. The device comprises a base, a supporting frame, a water turbine, a sealing cover, a gas storage assembly, a cabin and a motor. The supporting frame is fixedly arranged at the upper end of the base, the sealing cover is fixedly arranged at the upper end of the supporting frame, the air storage assembly and the cabin are arranged in the sealing cover, and the air storage assembly communicates with the cabin; the upper end of the main shaft penetrates through the cabin to be connected with the motor, the lower end of the main shaft is rotatably connected with the base, and the rotating wheel is fixedly arranged in the middle of the main shaft to drive the main shaft and the rotating wheel to rotate synchronously.

The utility model discloses a sea water pump which comprises an ocean current turbine which comprises a turbine body and a first transmission shaft. The air compressor comprises a compressor body, an airflow output end and a second transmission shaft, and the second transmission shaft is in transmission connection with the first transmission shaft; the air pump comprises an air pump body, an airflow input end, a water flow input end and a water flow output end; and the airflow input end is communicated with the airflow output end through an air path. Due to the adoption of the technical scheme, compared with the prior art, the device does not need to consume electric energy, so that the device does not consume energy and does not cause environmental pollution. And secondly, redundant compressed air can be stored through the air storage tank, and air flow can be supplemented to the air path when needed.