1620 results about "Water area" patented technology

The invention relates to the technical field of underwater detection, and discloses an underwater comprehensive detection system. The system collects multi-dimensional acoustic data including sound wave reflection intensity, propagation time delay and frequency dispersion characteristics of a target water area through an underwater sonar array; dividing the detection area into a plurality of layered units according to a water attenuation coefficient and a substrate reflection characteristic of the acoustic data, and extracting an environment intrinsic parameter of each layered unit; constructing an acoustic propagation path model based on the environmental intrinsic parameters, and generating adaptive filtering parameters in combination with a preset noise suppression strategy; calling sonar array hardware configuration data, matching filtering parameters with an array beam forming mode, and calculating a detection sensitivity threshold value of each layered unit; and integrating the sensitivity threshold and the acoustic data, generating a three-dimensional acoustic characteristic spectrum of the target water area, and marking the space coordinates and confidence level of the abnormal area. The system can improve the comprehensiveness and accuracy of underwater detection, and meets the requirement of high-precision detection.

The invention relates to the technical field of environment intelligent supervision, and discloses a visual river and lake water area health ecological supervision and management system. A data acquisition and feature extraction module of the system is responsible for acquiring multi-source ecological monitoring data of water areas of rivers and lakes, extracting spatial change features of motion trails of aquatic organisms and a time sequence of water quality parameters from the data, and identifying abnormal features according to an index variation mode corresponding to a predefined ecological health level; and generating an ecological health abnormity response label set associated with the specific geographic position. And the health state analysis module obtains key information of the marked water area section based on the label set, analyzes a change track and a deviation interval of the health state in the supervision time frame, and determines a health state lagging time period. And the evaluation delay processing module is used for extracting related time information to calculate a time difference according to the water area subareas related to the lagging time period, screening out the water area subareas which are not evaluated completely and sorting the water area subareas, and generating an adjustable configuration scheme of the monitoring time period of the water area subareas.

The invention discloses a method for evaluating enhancement and release seedling resources based on environmental DNA polymerization analysis. The method comprises the following steps: carrying out gridding partition on a target water area, collecting a water sample through a designed sampling scheme, and carrying out DNA extraction and high-throughput sequencing to obtain species sequence information of each sampling point. Sequencing data is subjected to species identification by using a bioinformatics method, released species are identified, a spatial abundance model is established, and a preliminary distribution map is generated. And establishing a DNA degradation kinetic model in combination with water area environmental parameters, and carrying out reverse correction on abundance distribution. And through a resource inversion model coupled with hydrodynamics, analyzing biomass distribution characteristics and migration laws of the release group, and obtaining a resource evaluation result. And finally, a species environment preference model is constructed based on migration path analysis, an optimal release area is matched in a target water area, a scientific scheme including release point locations, opportunities and quantity is generated, and a whole-process technical support and a decision basis are provided for enhancement and release.

The invention discloses a lightweight optical flow neural network method for river velocity measurement, and the method comprises the steps: collecting a dynamic monitoring image of a water area surface flow field, calculating an approximate optical flow field through combining with a DeepFlow optical flow algorithm, and generating an optical flow label; an improved lightweight ConvFFN-Flow optical flow estimation model is built, and the model comprises a feature extraction module, a 4D related structure body module, a GRU optical flow residual error iteration module and an up-sampling module; by introducing a ConvFFN module, the model parameter scale and the calculation amount are reduced, and the optical flow prediction precision is kept; and based on pixel coordinates of front and rear frames of images of the optical flow field data, obtaining corresponding positions in a real three-dimensional space, calculating an actual displacement amount, and deducing to obtain a real flow velocity vector size and a flow direction of the water body surface. The method still has stable and high-precision optical flow estimation capability when being used for processing scenes such as fine river water surface texture and complex flow state change, and meanwhile, the calculation overhead and the storage demand are remarkably reduced.

The invention provides a water area monitoring system for cooperative operation of an unmanned aerial vehicle and an unmanned ship based on a Mesh ad hoc network. The water area monitoring system comprises the unmanned aerial vehicle, the unmanned ship, a Mesh ad hoc network module, a cooperative control system and a shore end control system, according to the unmanned plane, wide-area patrol and image acquisition, airspace and wide-area water area information is acquired through a sensor, fixed-point acquisition and water area information acquisition are realized through an unmanned ship, and data interaction is realized by relying on nodes of a Mesh ad hoc network. Through the multi-hop relay and dynamic routing technology of the Mesh ad hoc network, autonomous and reliable communication in a scene without a fixed base station is realized, and the communication coverage range and survivability are improved; on the basis of distributed task allocation and real-time data interaction, the equipment cooperation efficiency is remarkably improved, the response delay is shortened, and efficient completion of tasks in a complex environment is guaranteed.

The invention belongs to the technical field of mobile robots, and particularly relates to an amphibious hexapod robot which comprises a robot body, six walking feet, a protection box, propellers, a multi-sensor system and a central control unit. The six walking feet are arranged on the two sides of the robot body, and a waterproof driving joint is arranged at the tail end of each foot. The protection box is arranged at the root of the walking foot and internally integrated with propellers; the sensor system comprises a water depth sensor, an attitude sensor and a grounding detection module; the central control unit is used for collecting sensor data in real time, judging whether the current environment is a land or a water area, automatically switching a walking mode or a water propulsion mode, and meanwhile adaptively adjusting gaits and the rotating speed of propellers according to the water depth and the terrain. The robot has environment perception, mode decision, gait generation, grounding prevention protection and energy optimization strategies, full-autonomous and high-adaptability movement in the land and water environment is achieved, and the working capacity and safety of the robot in the complex environment are improved.

The invention provides an aerial operation robot control system and method for water quality monitoring. The control system provided by the invention comprises a collaborative and autonomous navigation module which accurately plans a water quality monitoring flight path according to the monitored water area and position point information, and intelligently starts a fine monitoring module as required according to the regional water quality analysis result of a remote sensing monitoring module, thereby guaranteeing the comprehensive coverage of a monitored region, and timely focusing an abnormal region. The monitoring efficiency is greatly improved; the multi-rotor unmanned aerial vehicle control module guarantees stable flight; and the mechanical arm control module assists in accurate measurement. The remote sensing monitoring module and the fine monitoring module respectively utilize different sensors to obtain regional and point water quality data. The data fusion analysis module integrates the two types of data, determines and corrects the pollution range and source, locks the pollution source according to the pollution gradient, and improves the efficiency and precision of water quality monitoring.

The invention relates to a port water area ship navigation risk distribution calculation and visualization method and device based on AIS and GIS data fusion, and the method comprises the following steps: 110, obtaining ship AIS data, and carrying out the preprocessing of the ship AIS data, thereby obtaining the preprocessed ship AIS data, and the preprocessing comprises the standardization, feature extraction and abnormal point detection; step 120, carrying out port water area grid construction, and carrying out grid mapping and legality screening on the preprocessed ship AIS data; step 130, performing port water area static risk assessment, port water area dynamic risk assessment and port water area propagation risk assessment on the port water area, and performing port water area comprehensive risk assessment on the basis to obtain an assessment result; and step 140, drawing a port water area risk thermodynamic diagram based on the evaluation result to realize risk distribution visualization. According to the invention, efficient and scientific decision support can be provided for port safety management.

The invention provides a water quality abnormity early warning system and method based on multi-source data fusion, and relates to the technical field of abnormity early warning, and the method comprises the steps: recognizing a sensitive region in which the water quality is gradually changed and abnormal in a target water area through the time-space correlation characteristics of each piece of water quality multi-source data; performing sensitivity analysis on the response intensity of the water quality gradual change abnormity in the sensitive area to obtain a water quality sensitivity index of the sensitive area; determining an early warning response period when the water quality at the monitoring point is gradually changed and abnormal; performing confidence correction on a water quality abnormal fluctuation early warning threshold value at the monitoring point through the water quality sensitivity index and the early warning response period to obtain an abnormal early warning confidence coefficient of the water quality at the monitoring point; and when the abnormity early warning confidence exceeds a preset confidence threshold, sending a water quality gradual change abnormity verification instruction to an intelligent sensor at the monitoring point, and generating risk alarm information of water quality gradual change abnormity based on feedback verification data. According to the invention, risk early warning can be carried out under the condition that the water quality has gradual abnormal fluctuation.

The invention relates to the technical field of beam fusion, and discloses an irregular water area underwater topographic surveying and mapping method based on multi-beam fusion, which comprises the following steps: acquiring multi-voyage sounding data of a target irregular water area by using a multi-platform multi-beam sounding system such as a coastal patrol ship and an unmanned surveying ship, and performing sound velocity profile correction, attitude correction and tide level reduction to obtain a target irregular water area; unifying to the same space-time reference and plane rectangular coordinate system, and constructing an initial underwater terrain digital elevation model in an irregular water area range by adopting Gaussian weighted interpolation; defining an influence area by taking a hydraulic structure as a center, decomposing a local terrain into a background terrain and a scouring residual error, performing polar coordinate conversion and angular terrain spectrum analysis in the influence area, and calculating an axisymmetric form dominance index of the scouring pit; and constructing a topographic form shaping factor based on the axisymmetric form dominance index of the scouring pit, the maximum scouring depth and the influence radius, performing frequency domain modulation on the Fourier coefficient, and reconstructing the corrected local topography to obtain a final underwater topography DEM.

The utility model discloses a water area propeller and water area movable equipment. The water propeller is used for connecting a water carrier to propel the water carrier to move in the water. The water area propeller comprises a body and an operation device. A propelling device used for outputting propelling force for propelling the water area carrier to move is arranged at the end of the machine body. The operation device is rotationally connected to the end, away from the propelling device, of the fuselage body through a transverse connecting shaft, can be folded or unfolded with the fuselage body and is used for being operated by a user to control the water area propeller to operate. The operation device is provided with a first locking unit, the machine body is provided with a second locking unit, and when the operation device and the machine body are in a folded state, the first locking unit and the second locking unit lock the operation device and the machine body at the position between the transverse connecting shaft and the propelling device. And a suspension beam capable of loading the fuselage main body is formed between a locking position of the operating device between the first locking unit and the second locking unit and a connecting position of the operating device on the transverse connecting shaft.

The invention discloses a water surface unmanned ship path planning method for a narrow water area. The method comprises the following steps: S1, constructing an unmanned ship global-local collaborative path planning model; s2, navigation constraint and uncertain obstacle distribution for narrow water areas such as rivers and lakes are determined, a technical route adopts a'global-local-fusion 'three-layer collaborative framework, and through the method, the feasibility of a global path and the self-adaptability of local obstacle avoidance can be combined, so that the technical route is optimized; the path planning of continuous, safe and efficient motion planning of the unmanned ship in a narrow water area is realized.

The invention relates to the technical field of monitoring equipment, in particular to a hydrology and water resource automatic monitoring system and method.The hydrology and water resource automatic monitoring system comprises a floating module, a monitoring module and a regulation and control module, and when hydrology data monitoring needs to be conducted on a water area with the high flow speed, the overall length of a connecting module is adjusted according to the water depth; the monitoring module can reach the specified depth when the floating module floats on the water surface, the monitoring module monitors hydrological data of water at the specified depth, the regulation and control module is provided with a first regulation and control assembly and a second regulation and control assembly, the first regulation and control assembly is used for stabilizing the state of the monitoring module when water flow impacts the monitoring module, and the second regulation and control assembly is used for stabilizing the state of the monitoring module when water flow impacts the monitoring module. The probability that the monitoring module shakes is avoided, and then the probability that the floating module overturns is avoided; and the second regulation and control assembly is used for prolonging the contact duration of the water at the specified depth and the monitoring module, so that the interference of the water flow on the monitoring module is reduced, and the hydrological data monitoring accuracy of the monitoring module is improved.

The invention relates to the technical field of underwater topographic surveying and mapping, in particular to a sea area water taking channel scanning survey method and system based on multi-beam measurement, and the method comprises the following steps: constructing a rigid support, fixing a depth finder through a three-way cable fastening device, and building a Boolean parameter model; sound velocity, tide level and original echo data are collected; performing space-time registration, coordinate conversion and filtering denoising on the data to generate corrected water depth; and constructing an irregular triangulation network by using hard boundary constraint, generating a digital elevation model, and extracting a siltation area. According to the invention, multi-beam wide sector scanning and multi-sensor attitude correction technologies are fused, a limited water area full-coverage measurement system is constructed, and the problems of terrain blind areas and detail loss are solved. A boundary constraint reconstruction algorithm is utilized to realize closed-loop processing from coordinate reference unification to micro-landform restoration, the accuracy of channel bottom pit capture and edge topography expression is improved, and data support is provided for sedimentation analysis.

The invention belongs to the technical field of coal mine green mining and disaster prevention and control, and particularly relates to a caving area gangue grouting and filling method for recycling underground coal mine water resources. And zero emission and efficient cyclic utilization of water resources are realized. The coal gangue is used as a main filling aggregate and is directly digested underground, so that the problems of land occupation and environmental pollution caused by ground stockpiling are avoided, and harmless and large-scale treatment of the coal gangue is realized. A water treatment system and a gangue treatment system are combined into a whole, the comprehensive operation cost of a mine in the aspects of water disaster prevention and control, gangue treatment and outsourcing of a water source is remarkably reduced through a cyclic operation mode, and the cost benefit is high. Accurate detection and effect verification of the previous and later ponding areas are carried out through a geophysical prospecting means, and measures such as directional drilling and safety monitoring are combined, so that controllability and safety of the whole operation process are ensured, and the safety and reliability are high.

The invention relates to the technical field of ocean remote sensing monitoring, in particular to a remote sensing image-based warm discharge water reference temperature self-adaptive extraction method, which specifically comprises the steps of S01, data acquisition and preprocessing, S02, cumulative histogram generation, S03, curve fitting and smoothing, S04, second derivative calculation and S05, reference temperature determination. According to the method, the reference temperature is determined by analyzing the statistical distribution characteristics of the sea surface temperature data field, namely the form of the accumulative histogram, the physical demarcation point of the background water body and the warm drainage area on the temperature distribution is automatically positioned by using the second derivative, the process is completely driven by data, the interference of subjective factors is eliminated, and the accuracy of temperature distribution is improved. The method can automatically adapt to water areas with different geographical forms and different warm drainage diffusion modes, and objectivity and universality of reference temperature extraction are achieved.

The invention discloses a ship water gauge scale line fitting algorithm, and relates to the technical field of ship water gauge scale calculation, and the method comprises the steps: obtaining a ship water gauge region image through an image collection device to extract a measurement point coordinate, and building a mapping relation between a pixel position and a physical draft; a weighted least square method is adopted to perform nonlinear curve fitting, a weight coefficient is calculated based on a local neighborhood standard deviation, a polynomial order p is dynamically adjusted according to an adjusted decision coefficient, and the decision coefficient is iteratively optimized to improve the balance between amplitude and model complexity. And the system repeatedly corrects model parameters through a dynamic verification mechanism of the residual sum of squares and a preset threshold value, and finally an accurate water gauge scale fitting curve is generated. The method effectively solves the problems that traditional manual observation is prone to environmental interference and large in measurement error, high robustness is kept in a complex water area environment, and reliable data support can be provided for the fields of ship load evaluation, channel safety management and the like.

The utility model discloses a water area propeller and water area movable equipment. The water area propeller comprises a machine body, an operation device and a locking module. A propelling device used for outputting propelling force for propelling the water area carrier to move is arranged at the end of the machine body. The operation device is rotationally connected to the end, away from the propelling device, of the fuselage body through a transverse connecting shaft, can be folded or unfolded with the fuselage body and is used for being operated by a user to control the water area propeller to operate. The locking module comprises a first locking unit and a second locking unit, and the first locking unit and the second locking unit are arranged in the operation device and the machine body respectively. The suction force between the first locking unit and the second locking unit of the locking module locks the operating device and the fuselage body at the position between the transverse connecting shaft and the propelling device, and the operating device forms a cantilever beam capable of loading the fuselage body between the transverse connecting shaft and the locking module.

The invention relates to the technical field of water environment monitoring and water ecological protection, solves the technical problem that hydrology, water quality, vegetation and bottom mud monitoring are mutually dispersed and are difficult to correspond in the prior art, and particularly relates to a lakeside microenvironment composite monitoring pile and an ecological disturbance evaluation method. The composite monitoring piles sequentially comprise an overwater area, a variable water level zone monitoring area and an underwater area in the vertical direction, the bottoms of the composite monitoring piles are fixed to bottom mud, the multiple composite monitoring piles are arranged according to the water depth gradient of 0-20 cm, 20-50 cm and 50-100 cm, a hydrodynamic force disturbance index and a microenvironment response index are established by comparing base line and disturbance working condition monitoring results, a composite ecological disturbance index is established, and the water level zone monitoring area and the water level zone monitoring area are located in the bottom mud. The method is used for quantitatively evaluating lakeside disturbance intensity and engineering measure effects. According to the method, quantitative and graded evaluation of the ecological disturbance degree of the lakeside zone is realized, and a scientific basis is provided for lakeside zone revetment form optimization, ecological restoration measure arrangement and water function zone management.

The invention provides a polarization hyperspectral water quality monitoring system and method, and the system comprises a tower footing polarization hyperspectral imaging module which is disposed on a building beside a to-be-detected water area, and carries out the area array staring scanning of the to-be-detected water area through a polarization hyperspectral imager, so as to obtain a water body polarization hyperspectral image signal of the to-be-detected water area; the image spectral data processing module is used for deducting dark current and spurious signals from the water body polarization hyperspectral image signals, and calculating the water body spectral reflectivity of the water area to be measured according to the water body polarization hyperspectral image signals by combining a gray value and reflectivity relation model constructed by using the hyperspectral image signals of the gray scale calibration plate; and the water quality parameter spatial distribution inversion module is used for performing inversion on the to-be-detected water quality parameters of the to-be-detected water area according to a pre-constructed water quality parameter inversion model and the water body spectral reflectivity. According to the technical scheme, the integration level is high, the automation degree is high, rapid deployment can be achieved, and all-day continuous unattended monitoring can be achieved.

The utility model discloses a water supply assembly and a water supply device, and relates to the technical field of intelligent home furnishing, the water supply assembly and the water supply device mainly comprise a water containing piece, the upper surface of the water containing piece comprises a water dispersing area and a water containing area; the water dispersing area and the water containing area are arranged in the water flowing direction. The water containing area is sunken in the first axial direction, and the water dispersing area protrudes in the reverse direction of the first axial direction. Water flow flows to the water containing area through the water dispersing area, the water dispersing area is used for buffering and guiding the water flow, and the water containing area is used for containing water.

An electric submersible pump stage optimized for viscous fluid is provided. The stage can include a diffuser having a curved break water area. The stage can include an impeller having a cut back shroud and / or hub.

The invention belongs to the technical field of water area rescue practical training, and provides a torrent water channel and urban inland inundation combined practical training system which comprises a torrent water pump room, a water distribution pool, a training water channel, a training pool and an urban inland inundation training area. The training water channel communicates with the water distribution pool and the training pool. The urban inland inundation training area is communicated with the water distribution pool and the training pool. According to the system, a torrent water pump house, a water distribution pool, a training water channel, a training water pool and an urban inland inundation training area are integrated into an organic whole, and a parallel water channel is designed, so that a single system can provide two differentiated training environments of torrent rescue training and urban inland inundation rescue training at the same time. Flow regime areas such as a boiling line, a rolling flow, a covering flow, a smile flow, a rugosa flow and a vortex flow are arranged in the training water channel, and the most typical and dangerous water flow form in a natural river is systematically and completely reproduced. Therefore, learning and training personnel can learn and master skills of identifying and coping with various complex water flow forms in a continuous training water channel.

The invention discloses a water environment monitoring and early warning method based on multi-agent collaboration and a block chain, and relates to the technical field of water environment monitoring. The method comprises the following steps: collecting water quality parameters through monitoring equipment deployed in a water area, carrying out data cleaning and feature extraction on the water quality parameters through edge nodes, and executing lightweight anomaly detection; generating a data abstract from the monitoring data after edge processing, and writing the data abstract into a block chain network for credible evidence storage; each edge point serves as an independent agent, shares state data, performs task negotiation and distribution through a game theory algorithm based on a utility function, and performs uplink storage evidence on an intermediate result in a collaboration process; when the monitoring data meets a preset condition, each agent performs collaborative voting, and the intelligent contract automatically verifies a voting consensus and triggers an early warning event of a corresponding level; and according to the triggered early warning level, emergency equipment is automatically dispatched based on the priority queue for response, and an equipment execution result is fed back to a chain to form closed-loop management.

The invention provides an underwater target positioning method and system based on acoustic-magnetic combined detection, belongs to the technical field of underwater target detection, and aims at solving the problems of an existing method and system in the aspects of combined detection, accurate positioning, quick response and the like. The method comprises the following steps that sonar data and magnetic field data of a target water area are obtained, the sonar data are obtained through a plurality of sonar nodes, and the magnetic field data are obtained through a plurality of aircrafts; preprocessing the sonar data and the magnetic field data, and respectively generating a sonar response parameter and a magnetic compensation coefficient of the target water area; a plurality of sonar nodes are used for monitoring a target water area, and early warning signals of candidate targets are determined according to sonar response parameters; and determining a response aircraft from the plurality of aircrafts according to the early warning signal, collecting the current magnetic field data of the candidate target according to the position information through the response aircraft, processing the current magnetic field data based on the magnetic compensation coefficient, and determining the underwater target according to the processing result.

The utility model discloses a fishpond industrial aquaculture system which comprises an aquaculture unit used for aquaculture and separating circulating water and feces. The ecological purification unit is used for purifying circulating water and increasing oxygen, circulating water outlet of the breeding unit is connected with the ecological purification unit through a circulating water pipe, and return water purified and increased by the ecological purification unit is connected with the breeding unit through a return water pipe, so that the circulating water separated by the breeding unit is discharged to the ecological purification unit to be purified and increased oxygen and then flows back to the breeding unit; the precipitation unit is used for precipitating and concentrating the feces and is connected with the breeding unit so as to discharge the feces separated by the breeding unit to the precipitation unit for precipitation and concentration; the resourceful treatment unit is used for resourceful treatment of the feces, and the resourceful treatment unit is connected with the precipitation unit so as to discharge the feces precipitated and concentrated by the precipitation unit to the resourceful treatment unit for resourceful treatment; the culture unit and the ecological purification unit are both arranged in a water area, and the precipitation unit is arranged in or outside the water area. Water quality is improved; and cost is reduced.