339results about "Underwater equipment" patented technology

An electric power assisted steering assembly comprises a steering mechanism which operatively connects a steering wheel to the roadwheels of a vehicle, a torque sensing means adapted to produce a first output signal indicative of the torque carried by a portion of the steering mechanism, a means for producing a second output signal indicative from a signal indicative of the angular velocity of the portion of the steering mechanism, an electric motor operatively connected to the steering mechanism, a signal processing unit adapted to receive the two output signals and to produce therefrom an overall torque demand signal representative of a torque to be applied to the steering mechanism by the motor, and a motor drive stage adapted to provide a drive current to the motor responsive to the torque demand signal. The overall torque demand signal includes a damping component that is dependent upon the second output signal. The means for producing the yaw damping component includes a filter having one pole and one zero, and in use the second signal is passed through the filter to produce the damping component, the frequency of the pole and zero being selected such that the filter provides a band between the pole and zero within which the phase of the filtered second signal and the velocity signal are further out of phase or in phase than within the band.

The utility model discloses a novel bionic mechanical fish relates to mechanical fish technical field, including fish head mechanism, the back of fish head mechanism is provided with multistage fish body mechanism, the back of multistage fish body mechanism is provided with fish tail, multistage fish body mechanism includes the docking board no.

This invention relates to a self-leveling rotary transport device and method for docking and transferring multiple AUVs, belonging to the field of underwater robot equipment. It includes a docking module, a vertical transport module, and a rotary transport module. The docking module includes a rotary platform with a guide frame, and a first clamping device is provided on the top surface of the rotary platform. A vertical transport module is installed on one side of the docking module. The vertical transport module includes a liftable transport platform, and a locking device and a second clamping device are provided on the transport platform. The rotary transport module is installed below the docking module. The rotary transport module includes multi-branch shafts and horizontal plates installed on each set of branch shafts. An AUV charging and information interaction device and a third clamping device are arranged on the horizontal plates. This device increases the number of AUVs that can be docked and transferred, and can maintain the horizontal position of the AUVs during transfer, preparing them for subsequent actions such as AUV unloading. This invention also uses a separate rotary drive for the docking part to reduce the rotational resistance of the mechanism in seawater.

A method and system for communicating software code updates to a plurality of subsea nodes and a subsea module are disclosed. The method comprises the steps of: at a topside node, providing a most-up-to-date version of software code as an update; communicating the update to a first master subsea node via a communication link provided via an umbilical connection connecting the topside node to the first master subsea node; and providing the update from the first master subsea node to a first subsea node and at least one further subsea node.

The present application relates to the technical field of deep-sea resource development, and specifically relates to a deep-sea low-disturbance mining robot control system, comprising: an information perception module for acquiring and transmitting multi-source sensing data; a central control module for receiving and processing the multi-source sensing data to generate coordinated control instructions; a motion and attitude adjustment module for receiving the coordinated control instructions to drive a piston-type variable buoyancy tank and walking feet to execute actions, and to adjust the overall buoyancy, attitude and walking state of the robot; a collection and storage and transportation operation module for receiving the coordinated control instructions to drive a suction mechanical arm and a mineral storage and transportation box to execute actions, and to collect and transport minerals. The present application improves the walking stability and operation adaptability of the robot in complex terrain, effectively prevents subsidence and attitude instability, combines a sand filtering structure and dynamic buoyancy compensation, reduces disturbance to seabed sediments, reduces turbidity current diffusion, and has environmental friendliness, and can perform long-term, continuous and stable high-efficiency mining operations in deep sea.

A body structure of a water sports breathing tube is provided. The body structure includes a wall and a cavity surrounded by the wall. The cavity allows fluid to flow therethrough. The wall is composed of at least two weak zones and at least two non-weak zones. The at least two weak zones are formed along a length direction of the body structure, such that the body structure is collapsible along the at least two weak zones. Each of the at least two weak zones has a thickness ranging from 0.3 mm to 2.5 mm, and is 0.5 mm to 5 mm thinner than each of the at least two non-weak zones.

This invention discloses an unmanned collaborative emergency rescue system and method for special disasters involving ships in complex waters. The system, centered on a rescue mother ship, integrates unmanned fishing and rescue boats, intelligent fire detection boats, in-cabin emergency response robots, and tethered drones, constructing an integrated "air-water-cabin" unmanned equipment cluster. Information interconnection is achieved through a three-dimensional perception network and a flexible fusion communication network. The system integrates multi-source perception data through a collaborative control terminal and intelligently schedules each piece of equipment for collaborative operations based on preset decision logic. This invention enables tiered proactive rescue of personnel on the water, precise "internal detection and external attack" fire suppression of fires inside ships, and in-cabin emergency response, while maintaining communication via drone relay in signal-blocked environments. This invention solves the technical challenges of traditional rescue methods in responding to internal ship disasters, rescuing disabled persons, and collaborative operations in complex environments, significantly improving rescue efficiency and safety.

The utility model provides an underwater unmanned aerial vehicle. The underwater unmanned aerial vehicle comprises a vehicle body with a sealed cabin and a camera fixed in the sealed cabin, the head end of the machine body is provided with a transparent window directly facing the camera. The machine body comprises a middle section and extending sections symmetrically connected to the two opposite sides of the middle section. The middle section and the extension section are in natural transition connection, and the size of the extension section is gradually reduced from the side close to the middle section to the side away from the middle section; a hollowed-out window is further formed between the middle section and the extending section, and a first flow guide part is arranged at the hollowed-out window. According to the scheme, the hollow structure is designed between the middle section and the extension section, namely, the hollow window and the flow guide face are designed, the weight of the unmanned aerial vehicle body is reduced, the resistance of the unmanned aerial vehicle in the moving process, especially in the lifting process, can be reduced, turbulence can be effectively reduced, and the energy utilization efficiency and cruising ability of the unmanned aerial vehicle can be improved; and the efficiency and the stability of underwater operation are improved.

The application relates to the field of underwater flaw detection, and discloses an underwater flaw detection device and a trimming protection mechanism thereof, which comprises a radar body, the radar body is installed in a cabin body, a trimming protection mechanism is installed on the outside of the cabin body, the cabin body and the radar body are balanced, a connecting mechanism is further installed at the bottom of the cabin body, and the connecting mechanism is used for connecting the cabin body with an underwater ground; the radar body is installed in the cabin body, the radar can detect the underwater dam body part, cracks in the underwater dam body can be found in time, early warning and treatment work before a serious accident of the dam body can be facilitated, and meanwhile, the connecting mechanism arranged at the bottom is used for connecting the cabin body with the underwater ground when underwater undercurrent or other fluctuations are encountered, so that the cabin body (i.e. the underwater flaw detection device) is prevented from being taken away, and the situation that the underwater flaw detection action is affected is prevented.

The present invention relates to methods and devices for an uncrewed marine vehicle (UMV) for surveying a maritime area. The method comprises deploying the at least one UMV to the maritime area, navigating the at least one UMV in the maritime area while collecting a stream of survey data associated with a plurality of survey areas, processing the stream of collected survey data to generate data quality scores, wherein each data quality score is associated with at least one survey area, and upon determining that at least one of the data quality scores is lower than a predetermined quality threshold, adjusting the navigation of the UMV in view of the at least one of the low data quality score. Unlocking insights from Geo-Data, the present invention further relates to improvements in sustainability and environmental developments: together we create a safe and liveable world.

The application provides an underwater cleaning method and device based on adsorption principle. The device comprises a shell, a driving assembly, and a water flow channel formed inside the shell. The water flow channel is an axial flow channel connected in sequence along the same axis. The water flow channel comprises a water inlet end, a filter assembly, a driving assembly, and a water outlet end. The water inlet end is used for sucking in water flow and dirt to be cleaned. The filter assembly is arranged downstream of the water inlet end along the water flow direction to separate the water source and the dirt and contain the dirt. The driving assembly is connected downstream of the filter assembly to provide suction force for driving the water source and the dirt to flow along the axial flow channel. The water outlet end is connected downstream of the driving assembly and located at the tail of the shell to discharge the separated water source flowing out of the driving assembly. The water inlet end, the filter assembly, the driving assembly, and the water outlet end are coaxially arranged along the water flow direction to form a continuous linear flow channel. The above structure improves the cleaning efficiency.

An underwater towing system (1) according to one embodiment includes: a towing structure (2) sailing on or in water; a towing rope (3) hanging down from the towing structure (2) into the water; and underwater work structures (5) towed by the towing rope (3). At least one light emitter (4) is attached to the towing rope (3). The light emitter (4) is controlled by control circuitry (21) included in the towing structure (2). Each of the underwater work structures (5) includes a light receiver (53) that can receive a light signal from the light emitter (4). One of the underwater work structures (5) separates from the towing rope (3) when the control circuitry (21) makes the light emitter (4) transmit a separation signal for this underwater work structure (5), and the light receiver (53) of this underwater work structure (5) receives the separation signal.

The present disclosure provides a locking device for recovering an underwater vehicle, comprising: a lifting hook assembly arranged on a lifting device, the lifting hook assembly comprising a first base, a first magnetic member and a first lifting hook, the first magnetic member being arranged in the first base, and the first lifting hook being arranged on the first base; and a locking hook assembly arranged on the underwater vehicle, the locking hook assembly comprising a second base, a second magnetic member, a locking hook body and a driving portion, the second magnetic member being arranged in the second base, the driving portion being arranged on the second base and connected with the locking hook body, and the second base being formed with a lifting hook insertion opening for the first lifting hook to enter or exit; wherein the first magnetic member is adapted to generate a magnetic attraction force with the second magnetic member, and the driving portion is used to drive the locking hook body to hook or separate from the first lifting hook in the lifting hook insertion opening.

According to the present invention, activities such as monitoring and surveying using multiple mobile units can be carried out more efficiently. [Solution] A control system that controls the operation of multiple mobile bodies equipped with measurement sensors capable of detecting objects in order to detect the object, comprising: an object detection unit that detects the object based on measurement data acquired by the measurement sensors; and a unit formation command determination unit that determines a formation command specifying the formation configuration of one or more platoons to be formed by the multiple mobile bodies, wherein the unit formation command determination unit determines the formation command of the platoon according to the current state or future predicted state of the detected object when the object detection unit detects the object.

The present application belongs to the technical field of diving training, and provides a control method and system for a diving training environment. The method starts a water injection circulating unit to inject water into the internal space of a training cabin through a control unit, and cooperates with the control of an emergency water drainage unit to make the water in the training cabin reach a preset balance state. The working state and working parameters of the water injection circulating unit and the emergency water drainage unit corresponding to the specified training cabin can be controlled in response to the training instruction, so as to simulate a preset water flow environment in the specified training cabin. The situation in the training cabin can also be monitored in real time through a safety monitoring unit, and an alarm, emergency water drainage and other operations can be performed when an abnormal state is monitored. The present application can match the training environment with the skill level of the trainee, improve the practicality and adaptability of diving training, solve the technical problem that the diving training method is difficult to balance the simulation of the real water flow environment and the safety of training, and has the advantages of high control precision, strong environment simulation capability, rapid safety response and wide application range.

[Problem] The present invention makes it possible to provide, to an underwater apparatus located in an underwater area, an environment for communicating with an external communication apparatus or Internet connection. [Solution] The present invention is a communication system comprising: an information acquisition unit that acquires information relating to an underwater communication system for providing, to an underwater object located underwater, an environment in which a communication connection to an Internet connection or the like is possible; at least one unmanned watercraft that is capable of navigating on the water surface and is provided with a communication unit capable of communicating with the underwater object and / or the underwater communication system; a communication path determination unit that determines, on the basis of the information acquired by the information acquisition unit, a relay communication path for a communication line for establishing a relay connection between the underwater object and the Internet connection by using the unmanned watercraft and the underwater communication system; and an unmanned watercraft command determination unit that determines, on the basis of the determined relay communication path, an unmanned watercraft control command for configuring the relay communication path.

The application discloses a multi-stage gradient anti-silt underwater equipment, which comprises a static part and a rotating part rotating relative to each other. Outside the core support gap, a flow guiding and sand throwing part and an expansion and sedimentation part are arranged in sequence from upstream to downstream along the water flow direction. The flow guiding and sand throwing part is an annular step arranged on the static part, which utilizes water flow inertia separation to throw large particle silt out of the side; the expansion and sedimentation part is an annular groove arranged on the inner hole wall of the static part, which utilizes the low-speed vortex area formed by the sudden change of the flow passage section to make fine sand particles settle and be intercepted in the groove; the two parts are cooperated with each other, and the different particle size silt is classified and intercepted through inertia separation and vortex settlement respectively. An end face flow guiding part can also be arranged, which generates centrifugal force relying on the mechanical movement of the rotating part to dredge fine particles. The application has simple structure, no vulnerable parts, and is suitable for silt-containing underwater working conditions, and can prolong the service life of the equipment.

This invention relates to the field of underwater vehicle technology, specifically to an airdrop-type underwater glider. The airdrop-type underwater glider includes an attitude adjustment cabin, a bow mounting frame, a cushioning elastic component, a mobile battery pack, and a pitch drive mechanism. The pitch drive mechanism is drive-connected to the mobile battery pack. The bow mounting frame is mounted at the front end of the attitude adjustment cabin. The cushioning elastic component includes a first cushioning elastic element disposed on the front surface of the mobile battery pack. The bow mounting frame has a cushioning mating surface for cooperating with the first cushioning elastic element. The cushioning elastic component also includes a second cushioning elastic element disposed between the mobile battery pack and the pitch drive mechanism. When the airdrop-type underwater glider is subjected to an impact load, the first cushioning elastic element at the front end of the mobile battery pack and the bow mounting frame cushion the impact force transmitted from the water surface, while the second cushioning elastic element absorbs the impact force transmitted by the mobile battery pack, significantly reducing the impact force transmitted to the pitch drive mechanism.

The application provides an ARV relay laying and recycling device and method, and belongs to the field of underwater robot recycling. The application better solves the recycling problem of ARV in mud point monitoring operation. The ARV relay laying and recycling device comprises a TMS frame, a tail side thruster, an optical fiber communication device, an underwater winch system, an USBL acoustic positioning system, a head side thruster, a power supply module, an ARV tail locking self-locking device, an ARV head locking self-locking device, an ARV guide rod, a left main thruster, a right main thruster, an ARV docking locking device and a TMS control system. The TMS frame comprises a lower tray frame and an upper support frame connected to the upper end face of the lower tray frame. After the TMS control system responds to a signal, the tail side thruster and the head side thruster are controlled to adjust the positions of the ARV tail locking self-locking device and the ARV head locking self-locking device, so that the self-locking of the ARV is completed. The ARV docking locking device is arranged at the front end of the ARV and is used for cooperating with the ARV guide rod to limit the freedom degree of the ARV. The device is mainly used for recycling the ARV.

The present application relates to underwater vehicle control technology field, specifically to a kind of machine manta ray visual servo autonomous precision benthic control method and system for narrow space, comprising: setting the initialization parameter of machine manta ray fixed-point benthic;Obtain the relative pose information between machine manta ray and the mark between fixed-point benthic position;Obtain the real-time phase difference corresponding to each pectoral fin of machine manta ray;Obtain the buoyancy of machine manta ray;Machine manta ray is controlled benthically.The present application can not only realize trajectory convergence and position convergence, but also can guarantee attitude stable convergence, embodies the good convergence and operating stability of the present application in actual operation.

The present invention discloses an underwater communication device for use by divers, comprising: at least one permanent magnet positioned at an edge of said device and configured to generate a magnetic field; at least one magnetic sensor with proximity detection functionality positioned at an edge of said device and configured to detect said magnetic field when a second underwater communication device is brought into proximity; a pairing module configured to: receive a proximity indication from said magnetic sensor when said magnetic field is detected, initiate a communication pairing session in response to said proximity indication, and establish a shared connection with said second underwater communication device, wherein the shared communication link enables subsequent underwater communication between the devices later when the devices are no longer in proximity identified by said magnetic field;

Methods and systems for time synchronization of a distributed sensor array system ("distributed system") are described herein. The distributed system includes a plurality of sensor nodes that are time-synchronized using state information of the sensor nodes (e.g., timestamps of event occurrences such as the reception of a request for a local timestamp, the reception of a calibration signal, etc.). The timestamp of an event occurrence at each sensor node is determined, and a time offset is determined between the timestamp of the event occurrence at the reference node of the distributed system and the timestamp of the corresponding sensor node. The distributed system synchronizes each sensor node based on the time offset of the corresponding sensor node in order to time-align the data signals received by the sensor nodes. The time-aligned signals are combined for further processing.

The application relates to an underwater control module for independently recovering an underwater hydraulic cabin and an underwater electronic cabin, which comprises an underwater electronic cabin, an underwater hydraulic cabin and working equipment; the working equipment is divided into an underwater electronic module accommodated in the underwater electronic cabin and a hydraulic valve group accommodated in the underwater hydraulic cabin; wherein the underwater electronic module and the hydraulic valve group are connected through connecting devices in the underwater working state of the underwater control module; the underwater electronic module and the hydraulic valve group are disconnected in the recovery state of the underwater electronic cabin or the underwater hydraulic cabin in the underwater control module.

The application discloses a kind of underwater self-explosion barrier robots in the technical field of underwater robot, including fuselage, propeller, mechanical arm, attachment mechanism, observation instrument and charging mechanism;The propeller includes horizontal propeller and vertical propeller, the horizontal propeller and vertical propeller are symmetrically installed in the left and right sides of fuselage, the observation instrument is installed in the grabbing surface of fuselage, the attachment mechanism is installed in one end of horizontal propeller, and with the grabbing surface same direction;The mechanical arm is symmetrically installed in the upper and lower sides of fuselage, the mechanical arm has at least three degrees of freedom, the free end of the mechanical arm is provided with mechanical claw, the mechanical arm can be gripped with pincer type;The charging mechanism is installed in the non-grabbing surface of fuselage.The underwater self-explosion barrier robot provided by the application can be closely adsorbed on the surface of barrier, suitable for a variety of complex shape barriers, high applicability range and high stability, high barrier efficiency and low manufacturing cost.

The application discloses a multi-mode water-air cross-medium aircraft based on a bionic airfoil, which comprises a shell, first to third carbon plates, a power module, a fairing, a ballast module, a gliding module, a battery module and a control module; the power module comprises four power units; the gliding module comprises two gliding units which are symmetrically arranged on the two sides of the shell. The application controls the difference between the gravity and the buoyancy of the cross-medium aircraft by storing and draining water through the ballast module; the power module provides power for flying or sliding underwater; when sliding underwater, the two gliding units work in cooperation with the power module, and can adapt to more complex underwater environments. The application has the multi-mode motion capabilities of aerial flight, underwater gliding and strong water ejection, and has a simple structure and is easy to maintain.

The application discloses a foldable water-air-crossing multi-modal robot system, which comprises a body, a motion core module, a modal switching module, a rotor module and a propeller module, a waterproof sealed cabin is arranged in the body, the motion core module is installed in the waterproof sealed cabin of the body, the modal switching module is installed above the body, the rotor module is connected with the modal switching module, and the rotor module is unfolded or folded through the modal switching module, and the propeller module is installed below the body. The whole machine has compact structure and high lightweight degree, the task execution capability and operation dimension of the aircraft in a complex environment are significantly improved, and large-scale engineering application and technology popularization are facilitated.

An AUV (1) according to one embodiment includes: a position detector (9) that detects a position of the position detector (9) relative to an underwater structure (10); a propulsor (22); and control circuitry (7) configured to control the propulsor (22) and grasp a position of the autonomous underwater vehicle (1). Moreover, the AUV (1) includes: an underwater potential sensor that three-dimensionally measures a potential gradient in water; and a metal potential sensor that inspects an electric field producing body that is a part of the underwater structure (10) or a sacrificial anode. The control circuitry (7) specifies a position of the electric field producing body by mapping an underwater electric field from the potential gradient measured by the underwater potential sensor in accordance with movement of the AUV(1). The control circuitry (7) controls the propulsor (22) such that the AUV (1) moves to and stops at an inspection position that is a position at which the metal potential sensor is opposed to the electric field producing body. In this state, the control circuitry (7) makes the metal potential sensor inspect the electric field producing body.

The application relates to the technical field of ocean engineering equipment, and discloses a launching device of an underwater vehicle and a control method thereof. The launching device of the underwater vehicle comprises a first lifting group and a second lifting group. The first lifting group comprises a plurality of first pile legs which are arranged at intervals along a first direction, the first pile legs are slidingly arranged on one side wall of a moon pool along a vertical direction, and the lower ends of the first pile legs are rotationally provided with crosspieces. The second lifting group is arranged at intervals along a second direction with the first lifting group, the second lifting group comprises a plurality of second pile legs which are the same in number as the first pile legs, the second pile legs are arranged at intervals along the first direction, the second pile legs are slidingly arranged on the other side wall of the moon pool along the vertical direction, and the lower ends of the second pile legs are provided with supporting plates. One crosspiece can be lapped on one supporting plate, so that the plurality of crosspieces form a bearing surface capable of bearing the underwater vehicle. The launching device of the underwater vehicle is accurate in positioning, stable in operation, efficient and convenient, and can adapt to complex marine environments.

The present disclosure provides a kind of bionic machine sturgeon, comprising: head (1), abdomen (2) and tail (3) connected in sequence;Front end in head (1) is provided with suction and drainage assembly (11), and suction and drainage assembly (11) is used to realize the buoyancy adjustment of bionic machine sturgeon;Abdomen (2) is provided with chest fin rotating module (21), pheromone release system (22), battery (23) and gravity center adjusting mechanism (24), wherein pheromone release system (22) is used to release chemical stimulant in direction;Tail (3) is installed with line drive bionic propulsion module (31), and line drive bionic propulsion module (31) includes waist tail joint drive motor (311) and multiple joint assemblies (312), waist tail joint drive motor (311) is used to drive joint assembly (312) swing, realizes the propulsion of bionic machine sturgeon tail (3).

The present invention relates to a method for evaluating the risk of detection for a watercraft 10 to avoid detection by an observation aircraft, wherein the method is designed to avoid indirect detection by observing an impact of the watercraft (10) on the environment, wherein the method comprises the following steps: a) providing an impact model for predicting the impact of the watercraft 10 on the environment, b) providing a database with trajectory data of the observation aircraft and estimated detection possibilities, c) detecting its own position, speed and direction of travel as well as the specified course 3), d) calculating the environmental impact from the data acquired in step c) and the model specified in step a),e) Determining the satellites 40 simultaneously located in the area of ​​environmental impact and course 30 from the data provided in step b), f) Estimating a probable observation area 50 for the satellites 40 identified in step e), g) Determining the overlap between the impact area determined in step d) and the observation area 50 determined in step f).