175 results about "Ocean exploration" patented technology

A marine oil and gas exploration system used for measuring telluric currents as a natural electromagnetic energy source flowing beneath an ocean and sea floor. The marine exploration system includes a towed fish adapted for being pulled behind a survey ship. The coordinates of the ship and the towed fish can be controlled by a GPS satellite and time data. The fish includes an aerodynamic waterproof housing, somewhat reminiscent of a shape of a fish. Metal sheet electrodes of electric field sensors are mounted on the surface of a tubular nose extending outwardly from the housing. The electric field sensors are in direct contact with the sea water. Typically, the fish is towed approximately 100 feet above the sea floor. The positioning of the fish is maintained by the use of an acoustic “pinger” on the fish. The pinger transmits signals up a towed cable to the survey ship. The fish can also include a cesium magnetometer connected to the electric field sensors. The magnetometer provides for detecting low frequency magnetic components of the electromagnetic fields generated by the telluric currents flowing under the sea floor. A filtering of the magnetic component signals is used to provide a phase and amplitude references for the electric fields. The amplitudes of the electric field at each frequency are ratioed against the amplitudes of similarly filtered components of the magnetometer.

The invention discloses an underwater cultural relic integrated detection device based on an ROV platform, which includes a deck device and an underwater integrated detection device, and belongs to the technical field of marine detection. Deck installations include the mother ship, GPS system, ultra-short baseline transceiver and ROV console. The underwater detection device integrates magnetometer, multi-beam sonar, side-scan sonar, high-definition camera, shallow stratum profiler (shallow profiler) and ultra-short baseline acoustic beacon on the ROV platform. The magnetometer is used to measure the magnetic anomalies in the detection area and roughly determine the location of the underwater cultural relics. The shallow profiler is used to describe the cross-sectional structure of the underwater strata, which is used to detect the location of cultural relics buried below the mud surface. Multi-beam sonar and side-scan sonar are used to provide high-resolution underwater acoustic images, combined with high-definition cameras to detect the location of cultural relics on mud surfaces. The device of the invention integrates and fuses various sensor information, realizes the visualized and refined real-time detection of underwater cultural relics, and improves the detection efficiency of underwater cultural relics archaeological operations.

The invention relates to ocean exploration equipment, which belongs to the field of ocean exploration. A heave compensating control system of the ocean exploration equipment comprises exploration equipment, a lifting truck, a guide pulley and a compensating oil cylinder, wherein the lifting truck and the exploration equipment are connected by steel wires, and the guide pulley and the compensating oil cylinder are arranged between the exploration equipment and the lifting truck, the steel wires connecting the exploration equipment and the lifting truck lead out from the lifting truck and are wound on the guide pulley and connected with the exploration equipment after being wound on the compensating oil cylinder, a steel wire tension sensor is mounted on the guide pulley, the compensating oil cylinder is connected with an energy storage device, the steel wire tension sensor transmits signals to a heave compensating controller, the heave compensating controller is connected with the lifting truck and controls the lifting truck to adjust the exploration equipment. By combining the oil cylinder and tension compensation and combining active compensation and passive compensation, the heave compensating control system is applicable to various wave conditions, energy-saving and high in efficiency, can be closer to field conditions and high in control speed due to real-time feedback.

The invention provides a UUV (unmanned underwater vehicle) aided navigation method based on current profile. The method comprises the following steps: firstly setting up a Kalman filter model of current profile data, secondly determining the observation noise variance R and process noise variance Q in a Kalman equation according to variations of the environment and the UUV own velocity and finally setting up a UUV velocity-current profile relation database, utilizing the relation database and the current profile information measured by an ADCP (acoustic Doppler current profile) to reckon the UUV velocity at the time of DVL (Doppler velocity log) failure and further obtaining the navigation position of the UUV by deadreckoning. The method has the following beneficial effects: when the UUV performs a task under water, once the sonar data of the DVL have failure, the UUV velocity can be reckoned by using the current profile information measured by the ADCP, so that the UUV can continue performing the ocean exploration task in the complex ocean environments such as great depth, thus improving the environmental adaptation capability of the UUV.

The invention provides a laser underwater imaged image denoising and enhancing method for ocean exploration, and belongs to the field of image processing and pattern recognition. The core of the method is that at first, noise processing is performed on a laser underwater imaged image by applying SVD (singular value decomposition) and reconstruction in an airspace; then, aiming at the problem that the image has a little noise after SVD processing, wavelet decomposition and reconstruction are performed on the image in a wavelet domain to realize the purpose of wavelet denoising and enhancing; at last, FFT enhancing is performed on the image in a frequency domain to improve the image contrast and effectively keep the image resolution. Experiments show that the method can overcome a blocking effect due to equalization of local histogram equalization, and the image noise is effectively inhibited and the image resolution is kept under the premise that the image enhancement is realized.

The invention relates to a sea exploration sparker source which comprises a discharging switch (5), a transmission cable (6), a discharge electrode (7) and a control circuit (8) and is characterized in that the sparker source also comprises a rectification filter circuit (1), a full-bridge inverter circuit (2), a high-voltage rectification circuit (3) and a storage capacitor group (4), wherein the rectification filter circuit (1) converts three-phase AC voltage into DC voltage, the storage capacitor group (4) is charged and can store electric energy, the transmission cable (6) is connected between the discharging switch (5) and the discharge electrode (7) to transmit the electric energy, the discharge electrode (7) is used for finishing the release of the electric energy, the conversion of the electric energy from sound energy is realized, and the control circuit (8) realizes the control triggering function and the safety protection function of the sparker source.

The invention discloses a seabed node seismic data uplink and downlink wave field numerical simulation method. The method comprises steps that a sea exploration speed model, a seabed node observationsystem and relevant earth physical parameters are designed; sound wave fluctuation equation staggered grid finite difference forward modeling is carried out; the pressure component wave field and thespeed component wave field v are acquired; amplitude and phase matching is carried out for a pressure component and a speed component, for forward data, each maximum amplitude ratio a is solved, the coefficient is multiplied by the speed component, and uplink and downlink wave records are acquired. The method is advantaged in that the method is suitable for the present seabed node seismic data research trend, and the method has practical significance and utility values for seabed node wave field researches.

The invention provides a multi-wavelength narrow-linewidth all-solid-state laser used for ocean exploration, and belongs to the technical field of lasers. The output energy of the 1064nm pulse laser is fully utilized, and simultaneous output of infrared light, green light, ultraviolet light and blue light can be realized through the nonlinear crystal frequency conversion technology. The multi-wavelength narrow-linewidth all-solid-state laser has the characteristics of being multi-wavelength, narrow in linewidth, compact in structure, high in efficiency and high in energy and is particularly suitable for the field of ocean wind field measurement, ocean plotting, underwater target detection and underwater communication; and the output wavelength of the blue light is within the Fraunholer line (486.1nm) of the solar spectrum so that the performance of the application system can be effectively enhanced.

The invention relates to a deep-water broadband transducer with ultralow backward radiation. The transducer is composed of a longitudinal bend transducer inner core, a pressure-resistant casing and a pressure-resistant reflection baffle. The longitudinal bend transducer inner core is encapsulated in the pressure-resistant casing, a layer of polyurethane is poured into the upper end of the longitudinal transducer inner core and a layer of rubber is vulcanized on the polyurethane to improve water-tightness. The transducer and the pressure-resistant reflection baffle are in an integration design, a mounting hole is formed on the center of the pressure-resistant reflection baffle and the pressure-resistant casing is fixed in the mounting hole on the pressure-resistant reflection baffle. The deep-water broadband transducer with ultralow backward radiation is characterized by ultralow backward radiation, low frequency, broadband and anti-high hydrostatic pressure, adopts the integration design of transducer and pressure-resistant reflection baffle and is stable in performance and strong in reliability. Moreover the transducer can be mounted conveniently, be used alone or be used in lineup to fulfill the need for sound source level and beam width, covers the commonly used frequency of ocean exploration and the field of communication and has extensive applicable prospect.

The invention provides an SAR system based on a frequency modulated continuous wave (FMCW) system, comprising a transceiving antenna, a radio frequency module, a digital module and an image processingmodule, the radio frequency module is connected to the transceiving antenna and comprises a transmitting channel, a receiving channel, a frequency source and a power amplifier module; the digital module is connected to the radio frequency module and comprises a control module, a time service module, an AD module and a DA module and a record module; and the image processing module is connected tothe digital module and comprises a motion compensation module and an imaging processing module. The SAR system is built by adopting the FMCW system, main performance parameters of the system are designed based on the FMCW system, the advantages of simple system structure, small size, light weight and low cost are met, and the SAR system also has relatively high range resolution. Meanwhile, the actual application requirement is combined, and a processing method of the radar system is designed, so as to adapt to application requirements in many fields such as military reconnaissance, geologicalexploration, topographic mapping, ocean exploration as well as agriculture and forestry reconnaissance.

An ocean exploration apparatus including: a probe body; a buoyancy adjusting section that adjusts buoyancy generated in the probe body; a posture adjusting section that adjusts a posture of the probe body; a position information acquiring section that acquires position information of the probe body; a wing section that moves the probe body using a lifting force applied from seawater; a sensor section that is provided in the probe body and measures an electromagnetic field; and a control section that controls operations of the buoyancy adjusting section, the posture adjusting section, the position information acquiring section, and the sensor section according to predetermined conditions.

The invention provides a novel HOM interference theory based gravity instrument. The instrument comprises an entangled source (1), a delayer (2), a first beam splitter (3), a stress sensor (4), a prism (5) to be dropped, a reference prism (6), a second beam splitter (7), a first detector (8), a second detector (9), a coincidence measurement logic calculator (10), an atomic block (11) and a controller; when in use, the delayer (2) is adjusted to delay to enable destructive interference between the idle light and signal light flowing through the initial position, then the prism (5) to be dropped freely falls down to the end position, the free falling time is recorded, the delayer (2) is adjusted to delay again to enable destructive interference between the idle light and the signal light flowing through the end position, and finally the gravity acceleration can be obtained through the controller according to the difference between two delay, and the difference between the initial time and the end time. According to the instrument, the HOM interference theory is utilized to achieve the high precision measurement of the gravity accelerator; the instrument can be widely applied to the fields of metering, surveying and mapping, physical geography, ocean exploration and space science.

The invention discloses a sampling structure and a sampling method for ocean exploration. The sampling structure comprises a supporting table, a balancing weight which is installed at the bottom of the supporting table and is of an annular structure, an auxiliary device which is installed on the supporting table and used for assisting in being inserted into silt, and a sampling device which is installed on the auxiliary device and used for collecting samples. The auxiliary device comprises a box body, a multi-directional driving assembly which is installed in the box body and can ascend, descend and rotate, and a drilling assembly which is installed on the multi-directional driving assembly and moves along with the multi-directional driving assembly. The sampling device comprises a plurality of sampling assemblies installed on the drilling assembly, and a plurality of sealing assemblies which are installed on the drilling assembly and are used for sealing the sampling assemblies. The sampling structure and the sampling method can overcome the defects of the prior art, and are specially used for ocean exploration, and the structure is large in sampling amount, wide in application range and small in sample loss amount.

The invention discloses a buoy microsystem for ocean exploration. The buoy microsystem comprises a buoy, an underwater collection system, a positioning system and a data storage system, wherein the positioning system and the data storage system are carried on the buoy; the underwater collection system is located under the water and is used for collecting magnetic signals and underwater acoustic signals; the positioning system is used for collecting acceleration signals and GPS signals and monitoring position and attitude information of the buoy; and the data storage system is used for pollingand reading the information of the positioning system and the underwater collection system and storing the information to an SD card. The buoy microsystem is tiny in volume, easy to distribute, stablein structure and safe to dive, the volume of the buoy is reduced, and meanwhile, the monitoring and storage of underwater magnetic and underwater acoustic information, accelerated speed and GPS signals can be finished.

The invention provides a method and device for inverting sea surface salinity based on a satellite-borne microwave radiometer and relates to the field of ocean exploration. The method includes the steps that observation brightness temperature data of a waveband c and a waveband x of a target sea surface region and auxiliary data corresponding to the observation brightness temperature data are acquired respectively through the satellite-borne microwave radiometer, and the difference between the vertical polarization reflectivity of the observation c / x waveband is calculated; the difference between the vertical polarization reflectivity of the observation c / x waveband is subjected to digital image optimization, and the optimized difference between the vertical polarization reflectivity of the observation c / x waveband is obtained; the optimized difference between the vertical polarization reflectivity of the observation c / x waveband and the auxiliary data are subjected to inversion calculation through a preset lookup table, and the sea surface salinity of the target sea surface region is obtained. The calculation result of the observation brightness temperature data is optimized, the calculation result is closer to an actual value, the distribution situation of the sea surface salinity obtained through inversion of the calculation structure is more approximate to the actual value, and therefore the inversion precision of the sea surface salinity is improved.

The invention discloses a low-density and low-modulus polyurethane gel capable of being used as a filling material for a marine exploration streamer and a preparation method for the same. The polyurethane gel disclosed by the invention is formed by mixing and filling hydroxyl-terminated polybutadiene polyurethane prepolymer, polyether polyol and solvent oil under the action of a catalyst, whereinthe density of the polyurethane gel is lower than 0.92 g / cm<3>, and the modulus of the polyurethane gel is lower than 5 MPa. The low-density and low-modulus polyurethane gel disclosed by the invention has good cohesive property, high extensibility and self-healing property, and excellent sound transmission performance; and can be used as a filling material for a marine exploration streamer for realizing the suspension, sound transmission and sonar signal acquisition of the exploration streamer.

The invention provides an ocean exploration device and relates to the technical field of ocean exploration. The ocean exploration device is used for solving the problem that an exploration instrument is inconvenient to install in an existing exploration mode and guaranteeing that the extending length of the exploration instrument is long enough. According to the ocean exploration device, a rack is driven to walk to the edge position of a ship and then fixed and a movable unit is driven to move, so that an upright is located on the front side of the rack; a swing unit is driven to move, so that a swing rod is swung forwards; a lifting unit is driven to move, so that a supporting arm is in the horizontal state; finally, an extending unit is driven to move, so that an extending rod extends out, and at the moment, an exploration instrument on the extending rod extends outwards by a sufficient distance. The ocean exploration device is convenient to use, simple in operation and high in automation degree, and the exploration instrument can extend outwards by the sufficient distance.

The invention provides a wireless cord-pulling multi-lever linkage device used for remote unhooking. The wireless cord-pulling multi-lever linkage device is used in the fields of ships, deep wells, nuclear power and the like. Underwater devices can be released and recycled in the ocean exploration process. The wireless cord-pulling multi-lever linkage device used for remote unhooking comprises a mechanical part and an electronic control part. A main body works in a mechanical multi-lever linkage mode. Power majorly stems from springs. A motor serves as a displacement driving power source and is subjected to remote control. The work process includes mechanism restoration, circuit electrification resetting and starting of official working. The wireless cord-pulling multi-lever linkage device used for remote unhooking can achieve the purpose of remote releasing and unhooking, multiple stages of levers are adopted, the gravity of weights is reduced and finally the weights are converted to a mechanical dead center, the safety of the lifting process is guaranteed, and the risk of automatic unhooking of the weights is avoided. The wireless cord-pulling multi-lever linkage device used for remote unhooking is small and exquisite in appearance, low in cost, convenient to operate and safe in unhooking.

The invention relates to a marine cable-towing exploration technology, in particular to a method for determining an optimum turning path for marine cable-towing exploration aiming at the turning characteristic of a cable-towing boat. The method comprises the following steps: according to objects and data for deep-ocean exploration and in compliance with the range and accuracy of marine cable-towing exploration, predetermining different navigation paths of the cable-towing boat; preselecting the plurality of paths for the cable-towing boat which passes through standard arcs and common tangent segments at downline end points, passes through next standard arc and then reaches an upline end points; calculating the lengths of different paths; determining the shortest path for turning distance; and a deep-ocean survey method is adopted for exploration, and the cable-towing boat tows cables to navigate along the shortest path to work. In the method, necessary means are provided for improving the marine acquisition construction benefit, the turning of the navigation route can be optimized, and a result can be fast obtained, so that the acquisition construction for marine cable-towing seismic exploration can be optimized.

The invention discloses a bionic robot fish with pectoral fins foldable. A fish body main body, a power supplying and control module, a main power module, a pectoral fin folding module and a directionadjusting module are included; and the problems that an existing underwater vehicle is complex in mechanical structure, movement control of a bionic pectoral fin propelling type underwater vehicle isdifficult, and a movement type is singular are solved; and a structure utilizing a cam roller to transmit motor movement to drive the pectoral fins to swing is adopted by the main power module, and the bionic robot fish with the pectoral fins foldable is simple and reliable in mechanical structure and implementation is easy. According to the bionic robot fish with the pectoral fins foldable, thepectoral fins are foldable, during the movement of the robot fish, the pectoral fins of the robot fish can be slightly recycled, the backswept angle is increased, the resistance of water is reduced, the energy loss is reduced, and the speed of movement of the robot fish is increased; the direction adjusting module of the bionic robot fish with the pectoral fins foldable uses auxiliary wings, a rudder and an auxiliary wing manipulating mechanism, due to the relationship between the fluid pressure intensity and the flow speed, the robot fish can achieve steering, floating-up movement and diving;and the bionic robot fish with the pectoral fins foldable can be used for ocean exploration, seabed ecological disaster rescuing and the like.

The invention relates to electromagnetic prospecting and is used for surface and marine electromagnetic sounding by means of controllable electromagnetic field sources and is applied in a package oil and gas prospecting works for searching and outlining oil and gas fields. The inventive method is based on the selection of a response from earth materials which are secondary modified by hydrocarbons migration. The invention makes it possible to ensure a set of processing technologies enabling to layer-by-layer determine an electrical resistivity and process characteristics of a medium induced polarisation: a polarizability coefficient, a time constant and a relaxation spectrum width. The inventive method consists in carrying out a measurement by several receiving lines, wherein the position of two feeding lines of a sounding plant is substantially symmetrical with respect to the receiving lines which are located within a 30 DEG sector from the feeding line extensions, in recording a transient signal by land axial-dipole sounding devices or by marine sounding devices associated with a continuous signal recording during a ship travel and in calculating the population of interpretable parameters P1, Df, UH, Ps using recorded potential difference curves(U(i) is less than 2, and 2 is more than U(i))which are preliminary processed, contracted in the form of time gates and differentiated.

The invention discloses a hyperspectral image semi-supervised classification method based on small sample learning. The method mainly solves the problem that in the prior art, in a small sample scene, a classification network is prone to overfitting, and unreliable pseudo-mark samples in the self-training process cause adverse effects on the training process of the classification network in the self-training process. According to the implementation scheme, the method comprises the following steps of: 1) obtaining five hyperspectral data sets from a hyperspectral database, and preprocessing the five hyperspectral data sets; 2) collecting a training set and a test set from the preprocessed data set; 3) constructing a hyperspectral image prototype classification network comprising two convolutional layers and a full connection layer; 4) using the training set to iteratively update each category prototype to complete the training of the classification network; and 5) inputting the test set into the trained network optimal model to obtain a test data classification result. The method solves the problem of overfitting in the existing small sample scene, improves the classification precision, and can be applied to geological exploration, urban remote sensing and ocean exploration.

The invention discloses an overwater and underwater integrated unmanned system and method, and belongs to the field of physical marine navigation positioning, and the system comprises a scientific investigation ship, an overwater unmanned ship formation, an underwater AUV, a GNSS receiver, an IMU, a USBL, DVL equipment, and communication equipment. The scientific investigation ship and unmanned ship formation obtains high-precision and high-reliability position and speed information through a GNSS / INS integrated navigation technology; high-precision position information of an overwater ship body is taken as a reference, and integrated positioning and navigation of an underwater AUV carrier are realized through fusion of multiple sensors, that is, a reliable carrier is provided for underwater physical ocean detection through an overwater and underwater integrated formation system, and integrated deep fusion of navigation, positioning, attitude determination and time service of an overwater and underwater mobile carrier is realized; the problem that a traditional single scientific investigation ship is low in efficiency and precision during physical ocean exploration work is solved.

The invention provides a Go-Nafion composite film Ag / AgCl reference electrode for ocean exploration. A silver wire is adopted as the matrix, a segment of platinum wire is welded to one end of the silver wire, the outside of the silver wire is equipped with a silver chloride layer, and the silver chloride layer is externally provided with a layer of Go-Nafion composite film. The invention also provides a preparation method of the electrode. The method includes: growing the silver chloride layer on the surface of the silver wire matrix by anodic oxidation method, and depositing Go-Nafion on the surface of the silver chloride layer by electrophoretic deposition; conducting post-treatment on the composite film in an atmosphere furnace, finally performing activation in a NaCl solution and then conducting packaging. The Go-Nafion reference electrode prepared by the method provided by the invention has the advantages of simple structure, stable performance and no liquid junction potential. When the reference electrode is used in combination with a self-made Ir / IrOx pH electrode, the pH electrode shows good Nernst response within a test temperature range of 25-150DEG C.

The invention provides a sea surface salinity obtaining method and device, equipment and a medium, and relates to the technical field of ocean exploration. The sea surface salinity acquisition methodcomprises the following steps: acquiring brightness temperature data of a target sea area in a preset waveband through a microwave radiometer; calculating the reflectivity of the target sea area in the preset wave band according to the brightness temperature data of the preset wave band; correcting the reflectivity of the target sea area in the preset waveband according to the spatiotemporal information corresponding to the brightness temperature data to obtain corrected reflectivity; and performing salinity inversion according to the corrected reflectivity to obtain the sea surface salinity of the target sea area. According to the method, the reflectivity of the target sea area is corrected according to the spatio-temporal information of the brightness temperature data, and the sea surface salinity is inverted according to the corrected reflectivity, so that the inversion precision is more accurate.

The invention relates to a double-layered plankton sampling device and belongs to the field of ocean exploration and development. The double-layered plankton sampling device comprises an upper cover plate, a framework, a first wall surface, a first rotary door, a second rotary door, a second wall surface, a third wall surface, a fourth wall surface, an organism storage bucket, a pressing plate, apressurizing motor, a temperature control device, a rotary motor and a lower cover plate; the rotary motor drives the first rotary door and the second rotary door to rotate and two organism samples are collected and stored into an upper part and a lower part of the organism storage bucket respectively, so that the utilization rate of the sampling device is improved; soft membranes are attached onthe first rotary door, the second rotary door, the first wall surface, the second wall surface, the third wall surface and the fourth wall surface, so that the organism samples are in soft contact with the sampling device and mechanical damages of the organism samples are avoided; when the organism samples are collected, seawater in a sampling environment is remained and subsequent researches areeasy to carry; a mechanical arm of a submersible clamps the whole sampling device and is not in contact with the organism samples, so that damages to the organism samples are not caused.

The invention discloses a steel strength detection device applied to ocean exploration ships near polar circles. The device comprises a detection tank, wherein two ends of the top of the detection tank are connected with the same portal frame through bolts, the middle of the inner wall of the top of the portal frame is connected with a fixing ring through bolts, a connecting ring is arranged inside the circumference of the fixing ring in a sleeving manner, a swing rope is connected with the outer wall of the circumference of the connecting ring through a bolt, a pendulum bob is connected withthe end, away from the connecting ring, of the swing rope through a bolt, a beating block is welded on one side of the pendulum bob, a beating motor is connected with the middle of the outer wall of one side of the detection tank through bolts, and a beating bulging block is in bolt connection with one end of an output shaft of the beating motor. Detection authenticity is increased, the deformation size of a steel plate is convenient to detect, the detection accuracy rate of the deformation amount of the steel plate is improved, the pendulum bob is prevented from flying out of the detection tank or deviating and colliding with the inner wall of the detection tank, and accordingly, safety is improved.

The invention belongs to the field of ocean engineering, in particular to anti-fog swimming goggles for ocean exploration. The anti-fog swimming goggles include a shell and a headband, the shell is internally provided with through holes running through the shell, the side walls of the through holes are rotatably connected with fans, the outsides of the fans are fixedly connected with first gear rings, the first gear rings are rotatably connected with the side walls of the through holes, the inner side wall of the shell is rotatably connected with second gear rings, the first gear rings are meshed with the second gear rings, the second gear rings are made from magnetic materials, the inner side walls of the second gear rings is rotatably connected with heat dissipation rings, the heat dissipation rings are fixedly connected with the shell, the inner ring side walls of the heat dissipation rings are fixedly connected with lenses, and heat dissipation mechanisms are arranged in the heat dissipation rings. Air in heat dissipation cavities can be reduced through heat conducting rods, cold air is pushed to the inner walls of the lenses through magnetic sliders, the temperature of the inner walls of the lenses is greatly reduced, fogging of the lenses can be effectively prevented, and the underwater observation effect an be guaranteed.

The invention discloses a sonar robot set for ocean exploration. The sonar robot set comprises a pair of sonar robots which are connected through a connecting line; each sonar robot comprises an asymmetric spherical seal main body; the inner side surface of one seal main body is connected with the inner side of the other seal main body through the connecting line; a sonar device is arranged on theinner side surface of each seal main body; a solar cell is arranged on the outer side surface of each seal main body; the size of each seal main body is variable; each seal main body is adjusted to sink into water or rise to the water surface; and the density of the outer side surface of each seal main body is adjusted to be greater than or smaller than the density of the inner side surface of each seal main body. According to the sonar robot set disclosed by the invention, continuous monitoring can be realized through the two reversely symmetrical sonar robots, so that the continuous monitoring of seabed conditions can be automatically realized.