2769results 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 invention relates to the technical field of underwater navigation, and discloses a real-time attitude estimation method of an underwater inertial navigation system. The method comprises the steps that the underwater vehicle collects multi-axis angular velocity and linear acceleration data through an inertial measurement unit and uploads the data to a central processing module, and the central processing module conducts kinematics modeling on the data to generate attitude change initial feature vectors; receiving water flow velocity data of a Doppler velocimeter and pressure data of a depth sensor, and performing flow field interference compensation optimization on the attitude change initial feature vector based on the data to generate an anti-interference attitude feature vector; fusing the anti-interference attitude feature vector and a historical attitude estimation result to generate space-time fusion attitude state representation, and then resolving a real-time Euler angle through a nonlinear filter; and matching a corresponding attitude stability control instruction from the navigation strategy library according to the real-time Euler angle, and issuing the attitude stability control instruction to a propeller execution unit. The method can effectively cope with underwater complex environment interference and guarantee stable operation of the underwater vehicle.

The invention discloses a method for completing an autonomous deep-sea exploration task by a deep-sea cross-domain unmanned aerial vehicle. The method comprises the following steps: determining a target area; taking off to a specified height from the sea level, receiving a task execution command and then flying to a target area; when the relative distance between the current position and the coordinates of the target area reaches a preset value, descending; when it is detected that the device is contacted with seawater, the device dives through gravity; when it is detected that the set depth is reached, the propeller is restarted, and the detection task is executed; after the detection task is completed, the standby battery is rejected and ascends; after leaving the water surface, rising to a specified height and switching to a homeward flight mode; and when the deep-sea cross-domain unmanned aerial vehicle is within the sight distance range, a manual landing task is executed. The invention further discloses the deep-sea cross-domain unmanned aerial vehicle. According to the unmanned aerial vehicle and the method, autonomous switching operation between an air medium and an underwater medium can be realized, and the unmanned aerial vehicle has the capability of autonomously completing detection and water body sampling in an extreme deep sea environment.

The invention discloses an underwater robot with a splicing function and a method thereof, and belongs to the field of underwater robots, the underwater robot comprises a waterproof shell, a sensing module, a main control module, a power supply module and a rotary splicing module; the sensing module is used for environment sensing, the main control module is used for decision control, the power supply module provides energy support, the rotary splicing module is a core module of the robot, a rotary telescopic mechanism comprising a rotary shaft telescopic arm and a limiting rotor is creatively provided, and the rotary telescopic mechanism can be matched with limiting grooves in waterproof shells of other single robots. And splicing of the underwater robot is realized. According to the scheme of combining the underwater robot through the rotary splicing mechanism, independent operation or group operation can be selected according to the use scene, the combination shape can be switched during group operation to meet the task requirement, and the group task which cannot be completed by a traditional individual robot is achieved; therefore, the adaptability and execution capability of the underwater robot to complex tasks and environments are improved.

The high-reliability separating and combining mechanism is structurally composed of a driving module and a driven module, a rotating disc of the driving module is driven by a driving device to rotate, a center hole of the rotating disc is a first-stage guide groove, and a plurality of arc-shaped guide rails are evenly distributed on the periphery of the first-stage guide groove; a second-stage guide cone is slidably connected to the second-stage guide rod; a plurality of radial sliding grooves are formed in the base, and the bottom of the secondary guide cone slides along the sliding grooves; the passive module is of a cylinder structure, the top end of the cylinder is connected with a first-stage guide cone, and second-stage guide grooves are evenly distributed in the circumference of the cylinder. When the first-stage guide cone is inserted into the first-stage guide groove, the driving device drives the rotating disc to rotate, and the second-stage guide cone moves along the arc-shaped guide rail and the sliding groove and is inserted into the second-stage guide groove. According to the opening and closing mechanism, a complex sensing and control system is replaced with mechanical structure guiding and physical limiting, and the opening and closing mechanism has the advantages of being high in butt joint precision, reliable in opening and closing, simple in structure, low in cost, easy to maintain and the like.

The invention belongs to the technical field of underwater operation, and relates to a maintenance device for a lower hinged support of a dock gate and a construction method thereof. The device comprises a waterproof cover box, a diving barge, a hoisting system and a drainage assembly, the waterproof cover box comprises a cover body and a channel well, openings are formed in the bottom and the top of the cover body, the bottom face of the cover body is in sealed compression joint with the surrounding structure of the lower hinged support to be maintained, the channel well is connected to the opening in the top of the cover body in a sealed mode, and the top face of the channel well is higher than the water surface. The diving barge is provided with a plurality of hydraulic supporting legs capable of ascending and descending so that the diving barge can be supported in the horizontal door pit. The hoisting system comprises a tower frame and an arm frame which are arranged on the diving barge, and one end of the arm frame is located above the cover body and connected with the cover body in a pressing mode; the drainage assembly comprises a submersible pump and a drainage pipe, the submersible pump is arranged in the cover body, one end of the drainage pipe is connected with the submersible pump, and the other end is led to the water surface through the channel well. According to the method, a stable dry operation environment can be rapidly constructed at the dock gate lower hinged support to be maintained, rapid maintenance is achieved, pollution to a sea area is avoided, and operation safety is improved.

The invention discloses a multi-dimensional stealth submarine bionic heterogeneous protective shell and a preparation method thereof, and relates to the technical field of ship and ocean engineering. The submarine bionic heterogeneous protective shell is composed of a sandwich structure and a modified carbon nanotube film; the sandwich structure comprises a bionic Priative multi-stage rotating core layer, a bionic Diamond multi-stage rotating core layer, a bionic octagonal body spiral core layer, a bionic rhombic dodecahedron spiral core layer, a micro-perforated plate and a sound absorption lower plate. According to the design, the Bouligand structure and the acoustic structure principle of the giant bone tongue fish scale are fused, the unique configuration of inter-layer rotation and spiral rising in the microstructure of the giant bone tongue fish scale is used for reference, four bionic structures are innovatively constructed, deformation is effectively restrained, the stability of the overall structure is improved, and through force-sound coupling regulation and control, the mechanical property of the giant bone tongue fish scale is greatly improved. And an innovative solution is provided for achieving the mechanical bearing and sound stealth integrated function of the submarine shell.

The invention relates to the technical field of seabed base adjusting platforms, and discloses a seabed base self-adaptive leveling device and method based on shape memory alloy, and the device comprises a seabed base observation platform which is used for bearing instruments and equipment; the leveling supporting legs are uniformly distributed below the seabed-based observation platform and are used for realizing shock isolation and shock absorption and full-automatic and high-reliability leveling after the seabed-based observation platform touches the bottom by utilizing the shape memory effect and the superelasticity of SMA (Shape Memory Alloy); and the universal joint connecting mechanism is used for connecting the leveling support leg with the foot pad so as to adapt to and support slopes with different angles. The shape memory effect and the hyperelasticity of SMA are utilized, under the condition that an external power source and a complex control system are not needed, full-automatic and high-reliability leveling after the platform touches the bottom is achieved, and the technical problems that according to an existing leveling scheme, limitation of different degrees exists in the aspects of structure complexity, environment adaptability, long-term reliability and leveling precision are solved.

The invention relates to an array type underwater propeller with high maneuverability and low energy consumption, a pump jet generating device and a flow divider jointly form a propeller front end, an intelligent fluid director forms a propeller rear end, and the pump jet generating device drives an impeller through a rotating motor to drive surrounding water flow to rotate to generate a main jet flow; an isolation structure is arranged in the flow divider and used for evenly dividing the main jet flow into multiple strands of independent sub jet flows, and all the sub jet flows form propelling power after entering the intelligent flow guider to be guided. The intelligent fluid directors are connected with the flow channels of the flow divider in a one-to-one correspondence mode and used for converting fluid flowing out of the flow divider and out of the jet flow face into effective action jet flow with the adjustable flow speed. The intelligent fluid director comprises a jet flow end regulation and control mechanism and a pressure relief end regulation and control mechanism, and the jet flow end regulation and control mechanism is used for independently regulating the flow speed of effective jet flow ejected from the fluid director; and the pressure relief end regulation and control mechanism is used for maintaining the constant flow velocity at the inlet of the fluid director by releasing part of water flow when the effective jet flow velocity is regulated.

A buoyancy compensator bladder includes an air cell, a connector, a low-pressure inflator (LPI), and at least one over pressure valve. The LPI which inflates and deflates the air cell is positioned on an outer surface of the air cell. As a result, when the fully assembled buoyancy compensator is equipped by a diver, the LPI runs from behind the diver's torso and under their armpit. This results in the inflator head which is part of the LPI to be disposed on the front of the diver's chest during back mount or side mount diving. This structure allows the bladder to be easily used for either back mount or side mount diving. The bladder may further be equipped with auxiliary / non-essential devices such as wight pockets / pouches.

The invention relates to a mechanical arm end effector for underwater salvage and a using method thereof, and belongs to the technical field of underwater robots. By integrating a hydraulic-driven rotary drilling assembly and an ejection anchoring mechanism, drilling is completed on an underwater target object at a time, and an anchoring part with a lifting point is implanted; a unique pressure compensation flow channel system is arranged inside, external seawater pressure is automatically balanced through oil pressure, sealing failure is prevented, and operation reliability in a large-depth environment is ensured. The drilling and hoisting device has the functions of drilling and hoisting, a plurality of hoisting points can be continuously established by rapidly replacing the drill bit assembly, and the underwater salvage process is greatly simplified.

The invention discloses an underwater multi-mode mobile robot equipped with a flexible bionic gripper, which integrates three operation modes of propeller propulsion, six-foot crawling and target object grabbing, and realizes'movement-attachment-operation 'integrated collaboration. The robot main body adopts a five-thruster vector layout and has a five-degree-of-freedom motion capability; and six groups of three-degree-of-freedom mechanical feet and two groups of three-degree-of-freedom mechanical arms are arranged outside, and a cruising mode, a crawling mode or a grabbing mode can be automatically switched according to tasks. A coordination dual-network hydrogel bionic sucker and a flexible gripper are integrated at the foot end and the arm end, and controllable adsorption and desorption are achieved through a diaphragm pump. The control system generates a rhythm signal based on the central mode generator, and coordinates multi-module actions of paddles, legs and arms in combination with inverse kinematics solution. The robot is suitable for tasks such as wide water area cruising, complex terrain exploration, environment maintenance and seabed sampling, has high maneuverability and high integration degree, and provides an innovative platform for underwater fine operation.

The invention provides a butt joint device based on electromagnetic connection and an underwater navigation device, and relates to the technical field of underwater vehicles, the butt joint device comprises a first butt joint assembly and a second butt joint assembly, the first butt joint assembly comprises a first nut and a magnetic driving part arranged on the first nut in a sleeving mode, the second butt joint assembly comprises a telescopic rod, a connecting rod, a second nut and a magnetic response part, one end of the connecting rod is connected with the telescopic end of the telescopic rod, the other end is in threaded connection with the second nut, and the magnetic response part sleeves the periphery of the second nut. The magnetic driving part is used for attracting the magnetic response part to preliminarily butt the first butt joint assembly and the second butt joint assembly, the fixed end of the telescopic rod is driven to rotate to drive the connecting rod to rotate, and the connecting rod rotates and moves in the axial direction of the second nut to be in threaded connection with the inner wall of the first nut so as to secondarily butt the first butt joint assembly and the second butt joint assembly. Radial and axial wandering is eliminated, the stability and anti-disturbance capability after butt joint are enhanced, and the overall operation quality and efficiency are improved.

The invention discloses an AUV (Autonomous Underwater Vehicle) propeller fault diagnosis method based on wavelet entropy and APN (Access Point Name), and aims to solve the problems of large signal noise interference, inaccurate fault feature extraction and weak generalization ability in a small sample scene in AUV propeller fault diagnosis. The method sequentially comprises the following steps: S1, discretizing a multi-layer wavelet decomposition original signal, determining an optimal reconstruction scale by means of wavelet Shannon entropy, and reconstructing an enhanced signal by a single branch; s2, the enhanced signal is input into a CNN containing an attention module, and key fault features are focused; and S3, constructing a prototype network of joint loss optimization, and combining a pseudo-label mechanism to use unlabeled samples, thereby improving the generalization ability of small samples and realizing efficient and accurate diagnosis. According to the method, noise interference can be effectively filtered out, fault features can be accurately extracted, efficient and accurate diagnosis of AUV propeller faults is achieved under the small sample condition, and reliable technical support is provided for safe and stable operation of an AUV propulsion system.

The invention provides an underwater maintenance intelligent robot which is used for solving the problems that in the prior art, passive maintenance efficiency is low, cost is high, and safety risks exist. Comprising a frame main body, a cutting and recycling module and a washing module, the frame main body comprises a first main body, a second main body with the same structure as the first main body, and a self-adaptive connecting part for connecting the first main body with the second main body; the cutting and recycling module comprises a mounting seat fixedly connected with one side of the first main body, a sheath, a plurality of support arms, an elastic rod, a pulling power part used for pulling the sheath to bend and located in the circumferential direction of the anchor chain, a flexible chain holding part, a cutting part used for cutting a fishing net wound on the anchor chain, and a recycling part used for recycling and storing the fishing net cut by the cutting part; the washing module comprises a first washing part and a second washing part, and the first washing part and the second washing part are installed on the two sides of the second main body correspondingly and arranged in a staggered mode. The robot is high in operation efficiency, low in cost and capable of improving safety.

The invention discloses a low-cost transportable system for UUV path planning and control experiments. The low-cost transportable system comprises a shore-based unit, a buoy unit, an underwater vehicle unit, a zero-buoyancy cable and a software stack, the UWB tag, the router, the GNSS and the rocker receiver are integrated in the buoy, a sealing waterproof design is adopted, and the buoy can stably float on the water surface and is in wired connection with the underwater vehicle through the zero-buoyancy cable; the three-dimensional position of the underwater vehicle is obtained, the upper computer and the UWB base station are deployed on a shore base, the upper computer interacts the calculated position with the router in the buoy through wireless communication, and a stable and efficient communication link is constructed. The system can be quickly arranged in indoor and outdoor environments, supports closed-loop path planning and control experiments, can effectively replace expensive USBL or indoor dynamic capturing and positioning systems, remarkably reduces experiment cost, and improves experiment flexibility and portability.

The invention relates to the technical field of underwater detection, and discloses a high-stability underwater detection towing system based on active and passive cooperative compensation, which comprises an overwater mother ship, an electric winch arranged on the overwater mother ship, a first towing cable, a weight buffer, a second towing cable and a detection towed body, one end of the first towing cable is connected with the electric winch, and the other end is connected with the ballasting buffer; one end of the second towing cable is connected with the ballasting buffer, and the other end is connected with the detection towed body. According to the invention, stable carrying and high-precision data acquisition of underwater detection equipment can be realized, and multi-scene underwater detection requirements are met.

The application relates to the technical field of underwater bionic robots, solves the technical problems that a traditional snake-shaped robot cannot autonomously adapt to environmental changes, optimize motion performance and intelligently coordinate multiple propulsion modes, and particularly relates to an underwater bionic snake-shaped robot and a hybrid adaptive control method thereof, which comprises a snake-shaped robot composed of a snake body assembly, a snake head assembly and a jet propulsion module; control instructions for each electric joint and control instructions for the jet propulsion module are output by using a reinforcement learning intelligent agent according to real-time environmental perception and robot state feedback. The control of the electric joint can be adjusting the parameters of the central pattern generator to generate the expected joint angle, or directly outputting the expected driving torque of each electric joint. The snake-shaped robot provided by the application is suitable for pipeline inspection, underwater detection and other tasks, the modular design reduces the manufacturing cost and maintenance difficulty, and the advanced control method improves the intelligent level of the robot.

The invention relates to a multi-domain collaborative ocean emergency rescue method, which solves the technical problems of short endurance, small operation range and low recognition accuracy of persons in distress when an unmanned aerial vehicle or an unmanned ship or an underwater robot is adopted to carry out a search and rescue task in the prior art, and combines the unmanned aerial vehicle, the unmanned ship and the underwater robot for mutual cooperation. The unmanned aerial vehicle carries out investigation traversal in the air to find a search and rescue target, the unmanned aerial vehicle gets close to the search and rescue target and sends the position information of the target to the control center, the unmanned ship sails to the position of the target, the at least two underwater robots are transferred along with the unmanned ship, and the unmanned ship controls the at least two underwater robots to work cooperatively. The method can be widely applied to deep ocean emergency rescue, and an'air-sea-submerged 'multi-domain cooperative new normal form is formed.

The invention relates to the technical field of underwater vehicle detection, and discloses a self-adaptive underwater vehicle suitable for an estuary high-salinity and high-turbidity environment and a detection method, and the vehicle integrates an environment perception module, a density inversion module, an acoustic configuration module, a buoyancy control module, a silent observation module and the like. By fusing the temperature-salinity-depth and acoustic backscattering data, the additional density caused by the suspended sediment is inverted, and a total environment density parameter is constructed; according to the parameter, a variable buoyancy system is driven by feedforward control logic to adjust the drainage volume, and buoyancy fluctuation caused by density abrupt change is counteracted in advance. The system dynamically switches the acoustic detection frequency according to the local turbidity and corrects the time-varying gain curve; cutting off propelling power in a neutral hovering state to enter a silent drifting mode, and executing sediment flux observation without mechanical disturbance. According to the invention, the problems of buoyancy adjustment lag, acoustic signal attenuation and propulsion disturbance in the complex water body of the estuary are effectively solved, and the dynamic stability and the observation data quality are remarkably improved.

The invention provides an underwater target detection system and method for an AUV-carried synthetic aperture sonar, and belongs to the technical field of underwater acoustic detection. The method comprises the following steps: transmitting an ultra-wideband sound wave signal to an underwater target, and collecting an echo signal by using receiving array elements which are non-uniformly and sparsely arranged along a track direction; preprocessing the echoes and decomposing the echoes into a plurality of non-overlapping sub-band signals, obtaining an equivalent space response by calculating inter-channel phase differences under each sub-band, and further constructing a joint observation matrix; and high-resolution azimuth scattering intensity distribution is recovered in combination with compressed sensing, and motion compensation is performed by using platform motion data to realize underwater imaging. According to the invention, the dependence of the traditional synthetic aperture technology on long-distance uniform-speed motion is broken through, and high-resolution and high-precision underwater target detection and imaging can still be realized under the condition of high-speed navigation of an AUV (Autonomous Underwater Vehicle).

The present invention provides a swimming pool robot, including: a body; two moving mechanisms disposed on two sides of the body; and a lateral propulsion assembly. The lateral propulsion assembly includes: a lateral flow channel including a fluid inlet and a fluid spraying opening; a lateral impeller disposed inside the lateral flow channel; and a lateral motor configured to drive the lateral impeller to rotate. The fluid spraying opening is disposed on one moving mechanism, so that the lateral flow channel communicates with the outside.

The invention provides a bionic water snake detection robot and a control method, and relates to the technical field of ocean engineering detection. The bionic water snake detection robot comprises a plurality of single bionic water snake detection robots capable of working independently, each single bionic water snake detection robot comprises a robot body and a control module, and the head and the tail of the robot body are each provided with a detachable connecting structure; the control module is arranged in the machine body and used for controlling opening and closing of the detachable connecting structure. Wherein the plurality of single bionic water snake detection robots are autonomously connected underwater to form a chain type recombination state or separated into a single body state through detachable connecting structures of the heads and the tails. A plurality of single bionic water snake detection robots capable of working independently are introduced, and each bionic water snake detection robot is provided with a detachable connecting structure and a built-in control module, so that the dynamic recombination and separation of the bionic water snake detection robot are realized, and the scene adaptability and the detection efficiency of the robot are improved.

The invention relates to the technical field of water conservancy facility safety detection, in particular to an underwater detection robot system and method based on water conservancy facility hidden dangers. An underwater monitoring point set is generated according to a dam body underwater structure diagram and historical hidden danger records, the advancing detection track of the robot is planned based on monitoring point distribution positions, shooting parameters are adjusted in real time in the process that the robot moves along the advancing detection track, and a dam body surface attachment area is recognized according to collected underwater images. Scanning the attachment area to detect the biological coverage rate and the dam body corrosion level, quantifying a structural strength attenuation coefficient based on a dam body structural strength attenuation model, performing scouring defect detection on the non-attachment area to obtain the position and the geometric dimension of the scouring defect, and analyzing the structural failure probability of the dam body in combination with the historical detection record of the dam body. Potential safety hazard risks of the dam body are comprehensively judged, support is provided for timely and effective maintenance decisions, and operation safety of water conservancy facilities is guaranteed.

A rotary data cabin mechanism of a seabed data center belongs to the technical field of seabed data centers and comprises a foundation base and a second supporting plate which is mounted in a large-diameter steel pipe pile, a first supporting plate is fixedly mounted at the top of the foundation base, and a rotating structure is fixedly mounted at the top of the first supporting plate; through a rotating structure, a worker logs in through the working platform, at the moment, through driving of a driving motor, an output shaft of the worker can drive a rotating disc to rotate, and when the rotating disc rotates in a manner of being attached to the concave face of a flower gear, an extension rod drives a shifting rod to penetrate into a vertical groove to shift the flower gear to drive a rotating shaft to rotate; therefore, the data cabin needing to be overhauled in the five rotating shafts can be rotated to the position close to the working platform, workers can conveniently go down to overhaul and maintain, and compared with a traditional data cabin overhaul mode, diving operation is avoided, a large crane ship is not needed, the operation and maintenance cost and risk are remarkably reduced, the operation safety is improved, and the working efficiency is improved. The problems of high operation and maintenance difficulty and high cost in the prior art are solved.

The utility model provides an underwater robot for bridge detection, which relates to the technical field of bridge detection, and comprises a robot main body, a floating component for providing floating force is arranged at the upper part of the robot main body; the propeller set comprises two side propellers and two tail propellers, the two side propellers are located on the front face of the robot body, and the two tail propellers are located at the same end of the buoyancy assembly and symmetrically arranged front and back; and the two symmetrical walking mechanisms are arranged on the robot main body through mounting structural members. The beneficial effects of the utility model are that through the reasonable layout of the propeller group and the cooperative work of the propellers at the two sides and the tail part, accurate water surface positioning and movement are realized, and the robot is ensured to smoothly approach and fit a pile foundation from the water surface; the posture of the whole machine does not need to be adjusted when the pile foundation is close to the pile foundation, and the pile foundation can be directly adsorbed and attached through the propellers on the two sides; a tensioning mechanism in the walking mechanism has self-adaptability, and an elastic support is matched with a connecting frame connected in a sliding mode.

The invention discloses underwater multi-load constant-temperature sealing bin equipment, and relates to the technical field of underwater detection equipment, and the underwater multi-load constant-temperature sealing bin equipment comprises a cylindrical sealing bin main body and a heat conduction assembly; two corresponding sealing cover assemblies are installed on the left side and the right side of the cylindrical sealing bin body, and a detection assembly is installed at the left end of the sealing cover assembly on the left side. Unified installation of multiple types of detection modules can be achieved through integrated design, and the problems that in a traditional scheme, due to the single function, the number of mounting positions is large, and the load of a submersible is heavy are solved. The heat dissipation efficiency is effectively improved through a five-stage heat conduction mechanism and a net-shaped rib heat bridge structure, and the problems of temperature fluctuation and equipment overheating faults caused by passive heat dissipation are solved. A double-sealing interface is formed by the trapezoidal seam allowance and the sealing rubber ring, so that the waterproof reliability in a high-pressure environment is enhanced, and the leakage risk is reduced; and meanwhile, the universality of equipment is improved by virtue of standardized mounting surface design, and the multi-scene deployment cost is reduced.

The invention provides a flexible docking device and method for an underwater unmanned vehicle, and relates to the technical field of underwater robots, the flexible docking device comprises a base, a locking piece, a traction piece and at least three groups of adjustable supporting assemblies uniformly arranged on the base; the traction piece is connected with the base and the locking piece and used for pulling the locking piece to move towards the base. The adjustable supporting assembly comprises a supporting rod piece, a telescopic element and a rope driving device, the telescopic element is connected with the supporting rod piece and the base and used for driving the supporting rod piece to be unfolded or folded relative to the base so as to adjust the area of a butt-joint enveloping area formed by the tail end of the supporting rod piece, and the rope driving device comprises a driving assembly and a flexible rope. The driving assembly is arranged on the supporting rod piece and used for driving the flexible rope to drive the locking piece to move in the butt-joint enveloping area, and the locking piece is used for being in butt-joint locking with the unmanned underwater vehicle. The butt joint device can synchronously overcome the three technical problems that the rigid butt joint precision is harsh, the compensation range of a traditional funnel is insufficient, and the buffering performance is weak.

To specify a housing system comprising at least two openable, enclosed housings (1, 1') for receiving electronic components (7), wherein the housings (1, 1') each have a first connection side (A) with a coupling (12) arranged thereon, the coupling (12) having at least one sealed connector (2), and a second connection side (B) with at least one further connector (3) arranged thereon, wherein a watertight electrical connection can be established between each pair of housings (1, 1') by means of a mechanical connection of the coupling (12) of one housing (1) with the second connection side (B) of the other housing (1') and an interlocking of the connectors (2) of one housing (1) and the further connectors (3) of the other housing (1'), by means of which all necessary electronic components of external devices used on such vehicles, in particular measuring instruments and probes, can be modularly connected,Since the devices are simple, waterproof and robust in their construction and integration, allowing for easy exchange of external devices as well as electronic components or the simple addition of another device, it is proposed that the electrical connection enables the transmission of a power signal (4) and a data signal (5).

The invention discloses a magnetohydrodynamic propulsion device which is used for reducing navigation noise and improving navigation concealment. The device comprises a propelling main body, a magnetic field element, an electrode, an inlet pipe fitting and an outlet pipe fitting, the inlet pipe fitting is arranged at one end of the propelling main body, the outlet pipe fitting is arranged at the other end of the propelling main body, a fluid channel is arranged in the propelling main body, and the fluid channel is respectively communicated with the outlet pipe fitting and the inlet pipe fitting; the magnetic field elements and the electrodes are alternately arranged at intervals, the magnetic field elements and the electrodes are arranged on the propelling body in a surrounding mode around the axis of the propelling body, the polarities of every two adjacent electrodes are different, the magnetic field elements are used for generating a magnetic field in the fluid channel, and the electrodes are used for generating an electric field in the fluid channel. The magnetic field is matched with the electric field to drive fluid to flow to the outlet pipe fitting along the fluid channel.