156 results about "Ocean exploration" patented technology

The invention relates to the technical field of underwater robots and high-precision positioning, and particularly discloses a high-precision positioning system for collaborative operation of an underwater robot cluster. The system comprises a multi-source fusion positioning base station network module, a cross-medium cooperative positioning engine module, a cluster relative positioning subsystem module, a dynamic environment perception compensation module, an elastic positioning fault-tolerant system module and a cooperative positioning decision center module. An absolute positioning reference is constructed through a multi-source fusion positioning reference station network, a cross-medium cooperative positioning engine is combined to realize accurate pose calculation, a cluster relative positioning subsystem is utilized to establish a dynamic topological relation between robots, an environment perception compensation and elastic fault-tolerant mechanism is introduced, and finally resource configuration is optimized through a cooperative decision center. The method solves the problem of high-precision positioning of robot cluster collaborative operation in a complex underwater environment, and can be widely applied to the fields of ocean exploration, underwater engineering and the like.

The invention relates to a DRL-based AUV (Autonomous Underwater Vehicle) path planning and obstacle avoidance method in a partially observable environment, which comprises the following steps of: firstly, executing an AUV path planning and obstacle avoidance task under the condition that marine environment information is partially observable; secondly, constructing an underwater environment model and an AUV kinetic model, and constructing a dynamic and static separated dual-channel adaptive sensing model through local environment information acquired by detection equipment; then, path planning is modeled as a Markov decision process, and a multi-objective optimization reward function is designed for collaborative optimization; finally, an improved maximum entropy SAC algorithm is combined with a priority experience playback mechanism to train a strategy network, a gliding mode is dynamically triggered through a physical constraint layer, attitude angle and thrust output is corrected in real time, and the safety boundary condition is monitored in real time. According to the method, the real-time performance of path planning, the dynamic and static obstacle avoidance success rate and the ocean current utilization rate under the complex sea condition can be remarkably improved, and a high-robustness autonomous navigation solution is provided for ocean exploration.

The invention discloses a submarine topography reconstruction system and method based on optical mobile measuring and scanning, and relates to the technical field of ocean exploration, and the system comprises the following units: an image collection unit, which is used for coordinating the emission of 532nm pulse laser and the collection of a gating camera image through a synchronous sequential circuit, a triangulation measurement optical structure with separated emission and reception is adopted, and a submersible can be carried for mobile measurement and scanning; the system calibration unit is used for carrying out joint calibration on camera parameters and a laser plane so as to determine system calibration parameters, so that the spatial position of a laser stripe accurately corresponds to the actual coordinate of the target surface; and the image processing unit is used for preprocessing the image acquired by the system and further extracting the coordinates of the center line of the laser stripe in the preprocessed image. According to the invention, adjacent splicing can be carried out through continuously collected laser stripe images to construct two-dimensional submarine landform information, and three-dimensional reconstruction of submarine topography can be carried out by using generated point cloud data.

The invention discloses an underwater image enhancement method based on an improved MobileNetV4 (MobileNetV4). The method comprises the steps of firstly constructing a degraded underwater image data set and performing normalization preprocessing; a generator with MobileNetV4 as a trunk is provided, wavelet denoising (WD), color correction (CC), a multi-query attention mechanism (MQA) and a LayerScale layer are integrated, and high-frequency noise reduction, color temperature adjustment and feature stabilization are achieved; in cooperation with a multi-scale discriminator (MSD), Huber adversarial loss, Smooth L1 similarity loss and dual-channel content perception loss optimization training are adopted. Compared with a traditional method, the model is smaller in parameter quantity and calculation quantity, but better performance is achieved, the UIQM index is improved by more than 15%, the requirements for light weight and enhanced quality are remarkably balanced, and the method has practical value in the fields of ocean exploration, biological monitoring and the like.

The invention relates to the technical field of underwater acoustic engineering and ocean exploration, in particular to a multi-channel underwater acoustic signal transmitting and measuring system and a signal processing method, which are used for solving the problems that the existing multi-channel underwater acoustic signal processing generally depends on fixed threshold detection or simple time sequence alignment, and the signal processing efficiency is low. The problem that residual vibration, local noise abrupt change or multipath reverberation is easily misjudged as an effective first arrival signal in a complex underwater environment due to the fact that the influence of the physical response characteristic of a transducer on emission time calibration is not considered and effective verification on whether a candidate arrival structure accords with a sound wave propagation physical rule is lacked is solved. According to the invention, a multi-channel energy time sequence and hydrophone space geometrical relationship is fused through an underwater sound propagation initial physical judgment module, a judgment mechanism is constructed based on distance-time consistency of sound propagation, and self-consistent verification is realized by combining a cross-channel arrival sequence and sound velocity constraint. And the accuracy, the robustness and the physical interpretability of the judgment of the effective launching time of the underwater sound are obviously improved.

The invention relates to the technical field of ocean detection, in particular to a DBN-based underwater target tracking system, which comprises a multi-source data processing module, an environment monitoring module, a feature fusion module, a target feature extraction module and a dynamic prediction recognition module. According to the invention, through real-time signal-to-noise ratio evaluation of sonar and visual data and dynamic adjustment of modal weight, data reliability under the condition of insufficient illumination or complex water quality is ensured, and a data fusion strategy is optimized in combination with illumination intensity, turbid concentration and visible distance, so that the system has good environmental adaptability. Time sequence features and image edge gradients are utilized, key geometric differences are extracted, the feature recognition distinction degree is improved, significant edge features are screened and optimized, a target area is highlighted, the recognition precision is effectively improved, and target tracking conditions can be judged in real time based on migration analysis of DBN node response; and the underwater detection efficiency and the applicability in a complex environment are improved.

The invention provides an ocean internal wave feature detection method based on AUV fixed-depth navigation, and relates to the technical field of ocean exploration, ocean background profile data are collected when an AUV sinks, and actually measured temperature and actually measured depth data are collected when the AUV is fixed depth; the method comprises the following steps: correcting actually measured temperature and actually measured depth data according to ocean background profile data, converting a water body temperature time sequence of an AUV depth-keeping navigation time period into a water body fluctuation time sequence, retaining a low-frequency signal in water body displacement fluctuation by using an LMD (Local Mean Decomposition) method, and determining the amplitude and wavelength of an internal wave.

The invention discloses an AE-LSTM-based underwater glider CTD sampling abnormal data detection method and system and a storage medium, and belongs to the technical field of ocean exploration, the detection method comprises the steps that an AE-LSTM hybrid model is constructed, and the model comprises a bidirectional long short-term memory network Bi-LSTM encoder and a unidirectional LSTM decoder; preprocessing the original CTD time sequence data, wherein the preprocessing comprises edge auxiliary point expansion and upper-layer ocean data density interpolation; inputting the preprocessed data into the AE-LSTM hybrid model for encoding and decoding, and generating reconstructed data; calculating a reconstruction error of the original data and the reconstruction data; and dynamically setting a threshold value by a POT method based on an extreme value theory EVT, and judging abnormal data according to the reconstruction error. The method has the advantages of being high in detection precision, high in adaptability, low in misjudgment rate, suitable for large-scale automatic processing and the like, the requirement for obtaining high-quality observation data in the complex dynamic marine environment can be effectively met, and reliable data guarantee is provided for marine scientific research, environmental monitoring and the like.

The invention provides a magnetic suspension underwater robot path following control method, a magnetic suspension underwater robot path following control device, magnetic suspension underwater robot path following control equipment and a medium, and relates to the field of underwater robot path following control. The motion control bottleneck of a traditional underwater robot in a complex environment is broken through. In the aspect of dynamic modeling, interaction between magnetic force and fluid resistance is considered, and underwater motion characteristics of the robot are accurately described. A nonlinear control strategy combining the Lyapunov stability theory and sliding mode control is adopted, and a trajectory tracking controller with high robustness is designed to ensure that the robot can stably and efficiently operate along a predetermined trajectory in a complex underwater environment. The maneuverability and the operation precision of the underwater robot are remarkably improved, a more reliable solution is provided for the fields of ocean exploration, resource development, environment monitoring and the like, and huge application potential and market value are shown.

The present invention discloses a rotary underwater fish-aggregating power generation device and its operating method, comprising a float, a power generation module, and a payload module; the payload module includes a housing, a rechargeable power source, a lifting unit, a storage box, and a pressure pump; the power generation module includes a main column, a rotating bearing, brushes, Q rotating frames, a sealing sleeve, and a main delivery pipe. The present invention utilizes a rotary structure to securely attach a piezoelectric composite flexible membrane to the main column and rotating frame, such as a cantilever beam. A mixture of fish-aggregating element and feed is released outward at different locations on the power generation carrier to attract fish to the device. The piezoelectric composite flexible membrane is bent and deformed by the water flow and the fish, generating and storing current. The present invention can be mounted on a payload for simultaneous use, enhancing endurance during cable-free operations in deep waters and continuous, long-term ocean exploration missions. It offers excellent concealment and utilizes the marine environment to generate electricity, but the device does not require special installation or active implantation onto marine organisms.

The invention discloses a water-air cross-medium unmanned aerial vehicle and a flight method, and belongs to the technical field of unmanned aerial vehicles. The unmanned aerial vehicle comprises a sealed cabin body composed of an upper cabin body and a lower cabin body, symmetrical vehicle arms, a tail steering engine, a rudder, a left steering engine, a right steering engine, an elevator, an underwater propeller and various types of sensors (a binocular camera, a sonar, a water quality sensor and the like). Air flight is achieved in a four-rotor mode, and underwater sneaking is driven in a fixed-wing mode. The control method comprises the stages of takeoff, air flight, air-water transition (a water surface hovering automatic switching mode), underwater navigation, water-air transition and landing, and complete-process autonomous cross-medium conversion is achieved by combining layered rate descent and multi-sensor fusion judgment states. The device has the advantages of being compact in structure, reliable in sealing and accurate in cross-domain control, and is suitable for ocean exploration, environment monitoring, underwater reconnaissance and other scenes.

The invention discloses an underwater robotic fish full-coverage path planning method and system based on multi-strategy collaborative optimization, and belongs to the technical field of underwater robot path planning. Aiming at the problems of low path planning efficiency, poor dynamic environment adaptability and difficulty in algorithm parameter adjustment in the prior art, a dynamic grid coding and multi-resolution collaborative modeling method is provided, an obstacle probability region is divided through sonar point cloud data, the grid refining depth is dynamically adjusted in combination with a greedy optimization algorithm, and a multi-layer environment representation map is generated; an improved genetic algorithm framework is adopted, path fragments are recombined through self-adaptive variation rate adjustment and a three-point crossover operator, a conflict resolution mechanism is introduced to correct a countercurrent path direction, and a motion trail is optimized in combination with path smoothness constraint. According to the invention, high-efficiency and low-energy-consumption full-coverage path planning can be realized in a complex underwater environment, and the method is suitable for scenes of ocean exploration, pipeline inspection, ecological monitoring and the like.

The invention relates to the technical field of ocean detection equipment, and particularly provides an ocean laser radar system and a seawater multi-parameter detection method. The system comprises a laser emission subsystem, an optical receiving subsystem and a signal acquisition and control subsystem. The laser emission subsystem can emit multi-wavelength pulse laser to seawater; the optical receiving subsystem adopts a double-receiving telescope structure, respectively receives scattering and fluorescence signals with different properties, and realizes multi-channel signal separation through light splitting, light filtering and polarization light splitting elements; and the signal acquisition and control subsystem realizes synchronous acquisition and processing of multi-channel data. The system can synchronously invert water optical parameters, water particulate matter depolarization ratio and color ratio, chlorophyll concentration, suspended load concentration and other multi-parameter profiles, and is suitable for marine environment unattended monitoring of a fixed platform and a mobile platform.

The invention relates to the technical field of underwater acoustic communication, in particular to an underwater acoustic communication system and method based on environmental parameter sensing and adaptive matching, and the system comprises an environmental parameter sensing module, a local environmental resource library, a parameter matching and algorithm selection module, an adaptive algorithm optimizer, a communication processing module, and a transmit-receive transducer. Key environment parameters such as submarine topography and temperature-salinity-depth are obtained in real time, a preset optimal algorithm is called through parameter matching or an algorithm adaptive to a new environment is generated in real time, and the defects that the performance of a fixed algorithm is suddenly reduced when the environment changes and traditional adaptive adjustment response is lagged are fundamentally overcome. The reliability, robustness and intelligent level of communication in a complex underwater environment are improved, and high requirements of scenes such as ocean detection and underwater robot communication on communication performance are met.

The invention discloses a flexible deep sea pressure sensor, a corresponding fully-integrated temperature-depth sensing system and a temperature compensation algorithm. The invention relates to the technical field of ocean detection sensors, and the structural design of the flexible deep sea pressure sensor constructs a composite structure with high-pressure sensitivity and mechanical flexibility through the collaborative optimization of multiple parameters of LIG (laser-induced graphene) thickness, cross-linking agent proportion of PDMS (polydimethylsiloxane) and packaging thickness. And the contradiction between the sensitivity and the measuring range of the flexible material in the deep sea high-pressure environment is broken through. A fully-integrated temperature-depth sensing system adopting the pressure sensor and a corresponding temperature compensation algorithm also have the same technical effects.

The present invention relates to the technical field of ocean exploration engineering, and in particular to an underwater negative pressure multi-sample sampling and density rapid measurement device and method. The measurement device comprises top plates, and further comprises a housing, a marking rope, a sampling switch, a switch adjusting assembly, a rotating disc, locking assemblies, sampling cylinders and measurement assemblies. In the present application, by manually pulling the sampling switch, the switch adjusting assembly is driven to successively rotate the rotating disc, and the rotating disc successively actuates the locking assemblies to unlock the sampling cylinders in the corresponding groups for upward lifting; seawater is drawn into the sampling cylinders by utilizing the negative pressure inside the sampling cylinders and enters the measurement assemblies in communication with the sampling cylinders; and the inflow of seawater changes the spacing between capacitor plates, and the density of the incoming seawater is measured by utilizing the resulting change in capacitance. Thus, by pulling the sampling switch at a specific depth each time, real-time sampling of seawater from the specific depth layer is achieved, and during each lowering operation, multiple sampling cylinders can be utilized to collect seawater from different depth layers for measurement.

The invention discloses a mud self-circulation cooling system for drilling of a marine exploration high-temperature well, which comprises a front filter unit, a cooling unit, a seawater circulation unit and a monitoring unit, and is characterized in that the front filter unit adopts a parallel double-pipeline design with an electric valve to realize non-stop switching; the cooling unit is composed of a plurality of box bodies connected in series, and a U-shaped connecting piece of the slurry coil pipe is externally arranged to facilitate maintenance. The monitoring unit collects data through a temperature sensor, a pressure sensor, a flow sensor and a leakage sensor, the cooling temperature is adjusted by controlling the rotating speed of the sea water pump after the data are analyzed through the processing module, and a filtering pipeline is automatically switched. The problems that a traditional cooling mode is high in pollution risk, uncontrollable in temperature and difficult to maintain are solved, and the device has the advantages of being environmentally friendly, accurate in control and capable of achieving online maintenance.

The invention relates to the technical field of underwater vehicle control, and discloses a undulating fin robot control method based on a residual MLP and an active disturbance rejection controller, and the method comprises the steps: obtaining the state information of a robot through a kinematics and dynamics model; a non-linear tracking differentiator is adopted to generate a smooth reference signal, disturbance such as ocean current and density change is estimated in real time in combination with an extended state observer, and high-precision depth tracking is achieved through a state error feedback controller. The attitude control system fuses a PID controller and a depth factor adjustment mechanism, and dynamically optimizes control parameters to maintain attitude stability; a fin ray cooperative control strategy is put forward, the swing amplitude and the offset angle are adjusted, output torque is adjusted in combination with a depth factor, and propulsion performance fluctuation caused by water pressure changes is solved; the depth and attitude control parameters are optimized by using the residual MLP, the nonlinear fitting capability is enhanced through the residual block structure, the parameter setting efficiency is improved under the finite computing power, and an efficient and reliable technical scheme is provided for ocean exploration and ecological monitoring.

The invention relates to the technical field of ocean exploration equipment, and discloses a lander for ocean exploration and an energy absorption device thereof, the lander comprises a lander body, and a plurality of first buffer structures are fixed on the surface of the lander body; when the landing device is used, under the action of the first buffer structure, the buffer pad and the second buffer structure, impact force in the sinking process can be buffered, detection equipment is protected, the impact resistance of the landing device is improved, and the service life of the landing device is prolonged. The configuration mechanism can be put under the cooperation of the collecting mechanism and the placing mechanism, in addition, under the action of the air supply mechanism, the configuration mechanism can be limited, the configuration mechanism can float, the configuration mechanism can be conveniently recycled, and in addition, under the action of the configuration mechanism and the air supply mechanism, the configuration mechanism can be conveniently recycled. The stability of the lander body can be improved when the lander body ascends and after the lander body ascends, and the use space of the lander body is saved by adopting a'pipe-rope 'integrated mode.

The invention belongs to the technical field of ocean exploration, and particularly relates to an ocean exploration wave field reconstruction method based on dictionary learning, and the method comprises the steps: carrying out the preprocessing of original wave field data, and obtaining the preprocessed wave field data; separating the preprocessed wave field data into non-overlapping block sample matrixes; converting all block sample matrixes into a sample vector set; selecting a training sample set from the sample vector set; adopting the training sample set to construct a double-sparse dictionary model; iteratively updating the double sparse dictionary model by adopting an alternate optimization mode to obtain a final sparse dictionary and a sparse coefficient matrix corresponding to the sparse dictionary; and carrying out sparse reconstruction on the actual observation wave field by adopting the final sparse dictionary and the sparse coefficient matrix corresponding to the final sparse dictionary. The method has high adaptability to noisy or under-sampled wave field data, and a continuous and high-fidelity wave field structure can still be recovered even under the condition that data acquisition conditions are limited.

The invention discloses an underwater SLAM method and system combining a region-level descriptor and LSH retrieval, belongs to the technical field of autonomous navigation of underwater robots, and solves the problems that track plotting errors can be accumulated along with time due to particularity of an underwater environment, and a traditional SLAM method lacks an effective position sensing mechanism to suppress the drift, so that the navigation accuracy is poor. And meanwhile, an effective preprocessing mechanism for improving the image quality is lacked. The method comprises the following steps: acquiring and preprocessing a polar coordinate image; acquiring a prior pose of a current key frame, inputting the prior pose to a position sensing ICP, performing scanning matching on point clouds of adjacent key frames in sequence, and establishing a sequence constraint relation; extracting an occupied area from the historical key frame point cloud, constructing an area descriptor, carrying out neighbor retrieval, screening candidate key frames, verifying matching, and generating an effective loopback constraint; and constructing a factor graph, performing global graph optimization, accumulating and updating environment point clouds, and generating an underwater environment map. The method is suitable for the underwater robot in the scenes of ocean exploration, environment monitoring, search and rescue operation and the like.

The invention belongs to the technical field of marine exploration equipment, and discloses an acquisition and transmission module and an offshore seismic exploration acquisition cable using the same. The acquisition and transmission module is embedded in a reserved window of an acquisition cable, and comprises two waterproof end blocks which are in fusion connection with a cable core wire and a cable sheath layer and are used for axial limiting and end sealing; the protective shell is internally provided with a space for accommodating the acquisition control circuit board; the two fixing end caps are used for fixing the shell; the limiting assembly is composed of a lining ring, a limiting block and a limiting supporting column and connected between the waterproof end block and the fixing end cap. The acquisition and transmission module fills gaps of all parts through an internal adhesive structure so as to be solidified into a whole, and the exterior is integrally wrapped by an injection molding protective layer. According to the acquisition and transmission module, the problems that the module is easy to loosen, poor in sealing and difficult to maintain in a complex marine environment are solved, and the stability and reliability of seismic data acquisition are remarkably improved.

The invention relates to the technical field of ocean exploration and underwater acoustic communication, in particular to a mechanical very-low-frequency sound source transmitting device and transducer, which comprises a multidirectional transmission structure (1), a radiant panel (2), a main shell (4), a motor (5) and a speed reducer (6), the main shell (4) is of a hollow symmetrical structure and is provided with a top end face, a bottom end face and a plurality of side end faces. The plurality of side end surfaces are encircled to form a regular polygon; the side end surface is provided with a radiation plate (2) as a radiation surface; the inner end face of the radiant panel (2) is in contact with the internal environment of the main shell (4), and the outer end face is in contact with the external environment of the main shell (4); the multidirectional transmission structure (1) is arranged in the main shell (4) and is in contact with the radiant panel (2); rotation of the motor (5) is decelerated through the speed reducer (6) and then drives the multidirectional transmission structure (1), and the multidirectional transmission structure (1) converts rotation motion of the motor (5) into horizontal vibration of the radiant panel (2) so as to achieve underwater very-low-frequency sound source emission.

The application discloses a trimming device for underwater glider and a use method thereof, and belongs to the technical field of ocean exploration. The trimming device comprises a base, a support shaft, a weighing sensor, a torque sensor and a supporting component. The two end portions of the support shaft with the horizontal axis are installed on the base through the shaft seat. The weighing sensor is installed on the two end portions of the support shaft and is used for detecting the downward pressure of the end portions of the support shaft. The torque sensor is installed on the end portion of the support shaft and is used for detecting the torque of the support shaft. The supporting component is fixedly installed on the support shaft and is provided with a supporting portion which is used for supporting the underwater glider with the axis parallel to the axis of the support shaft. The trimming device realizes high accuracy, high efficiency and multi-dimensional adjustment capacity by means of the introduction of the sensor technology. The trimming device has the characteristics of simple structure, high flexibility and easy maintenance, and thus becomes a practical solution scheme meeting the trimming requirements of the underwater glider.

The invention discloses a non-pairing underwater image enhancement method based on structure perception multi-mode fusion, and belongs to the technical field of underwater image processing. Comprising the following steps: constructing a generator network based on a U-shaped Transform; training a generator network by using a non-paired data set, and carrying out combined constraint by using generative adversarial loss and multi-scale Patch NCE comparison loss; and performing channel splicing on a to-be-processed underwater RGB image, the space depth image and the structure prior image, constructing a multi-modal input tensor, then feeding the multi-modal input tensor into the trained generator network, and outputting an enhanced underwater image through forward propagation. According to the method, the depth map and the structure prior map are introduced, the perceptual ability of the network to the geometric contour is enhanced, global modeling and non-pairing comparative learning of Transform are combined, high-fidelity restoration of the high-turbidity underwater image is achieved under the condition that paired data is not needed, and the method can be widely applied to the fields of ocean exploration, underwater monitoring and the like.

The application belongs to the technical field of ocean exploration, and specifically discloses a seabed bottom type in-situ detection device and method. The device comprises an upper computer, a transmitter and a receiver. At the transmitter end, the application modulates selected initial identification information symbols into a low-frequency carrier frequency band in a multi-band linear frequency modulation manner to generate a low-frequency modulated wave, and then modulates the low-frequency modulated wave into a high-frequency carrier in an amplitude modulation manner to form a narrow underwater acoustic beam. At the receiver end, because different types of seabed have different self-demodulation capabilities and underwater sound dissipation characteristics at different bit positions of the identification information symbols, T-BOK demodulation is realized through low-frequency echo reception to obtain a three-state identification code, and the delay information of each bit of the three-state identification code is recorded. Through the three-state identification code demodulated by the low-frequency echo, the delay information of each bit of the three-state identification code, and a three-state identification code codebook generated in advance, the seabed bottom type and distribution characteristic parameters are obtained.

The present invention provides a all-solid-state laser that directly emits 486.1 nm blue laser based on a praseodymium-doped fluoride crystal. The laser includes an excitation source, a focusing system, a laser resonator, and a laser gain medium crystal. The excitation source is a laser diode laser that emits laser with a central wavelength of 440 - 445 nm; the laser resonator is composed of an input mirror and an output mirror coated with a film system for realizing blue laser; the laser gain medium crystal is a fluoride crystal doped with praseodymium ions. By using the Pr 3+ ion 3 P0→ 3 H4 energy level transition to directly emit 486.1 nm wavelength blue laser, the signal-to-noise ratio of the laser can be improved. The blue laser fabricated by the present invention has the advantages of simple and compact structure, high stability, good monochromaticity, small volume, low power consumption, etc. And by means of Q-switching, a high peak power blue laser pulse output can be obtained, which can meet the requirements of high power and high integration miniaturized blue lasers for ocean exploration and underwater communication.

The application discloses a seabed topography and geomorphology reconstruction system and method based on optical mobile scanning, and relates to the technical field of ocean exploration. The system comprises the following units: an image acquisition unit, which is used for coordinating the emission of a 532nm pulsed laser and the acquisition of a gated camera image through a synchronous timing circuit, and adopting a triangulation optical structure with separated emission and reception, and can be carried on a submersible for mobile scanning; a system calibration unit, which is used for jointly calibrating camera parameters and a laser plane, so as to determine system calibration parameters, and make the spatial position of a laser stripe accurately correspond to the actual coordinates of a target surface; and an image processing unit, which is used for pre-processing images acquired by the system, and further extracting the center line coordinates of a laser stripe in the pre-processed images. The application can not only perform adjacent splicing through continuously acquired laser stripe images, and construct two-dimensional geomorphology information of the seabed, but also perform three-dimensional reconstruction of seabed topography by using generated point cloud data.

The invention relates to a cross-medium unmanned aerial vehicle system and an adaptive control method thereof, and belongs to the technical field of unmanned aerial vehicles. Aiming at the problems of easy interruption of cross-medium communication, low propulsion efficiency and unstable dynamic control in the prior art, the invention provides a modularized fuselage integrated split propulsion system, an electret mechanical antenna and an intelligent control unit. The system guarantees the communication continuity by dynamically tuning the resonant frequency of the antenna; the medium switching stability is optimized by combining split-type propulsion orthogonal layout with a sliding mode control algorithm; the intelligent control unit cooperatively perceives and promotes distribution, and the energy utilization efficiency is improved. The method has the technical effects that the communication link is not interrupted, the dynamic control robustness is enhanced, the multi-task energy is optimized, the complex environment adaptability is improved, and the method can be widely applied to the fields of ocean detection and military reconnaissance.

This invention discloses an underwater fail-safe shut-off valve, relating to the field of marine exploration and drilling equipment technology. It includes a actuator assembly and a preparation valve assembly. The actuator assembly includes a piston assembly that divides the interior of the actuator assembly into independent drive chambers and balance chambers, which are hydraulically connected externally. The piston assembly is driven to one end of the valve stem. A force-applying component is disposed between the piston assembly and the inner wall end face of the actuator assembly. The preparation valve assembly includes an actuator that controls the opening and closing of the valve via the piston-driven actuator. After a hydraulic system failure, the piston assembly is no longer compressed by hydraulic oil. Under the elastic drive of the force-applying component, the piston assembly pushes the hydraulic oil in the drive chamber into the balance chamber and drives the valve stem, causing the preparation valve assembly to close, thereby achieving fail-safe shut-off of the underwater shut-off valve.