8072results 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 disclosure provides a method and system for trajectory tracking control of a vehicle-manipulator coupling system with finite time prescribed performance. Specifically, a coupling weaken trajectory planning method is designed to reduce the system's coupling effects. A finite time performance function is designed to constrain the trajectory tracking error. In a case the constraint conditions corresponding to the finite time performance function are satisfied, the trajectory tracking error is converted to obtain a transformed error. The sliding mode surface is designed based on the transformed error to control the transformed error to converge in a finite time, and the external disturbance of the vehicle-manipulator coupling system is observed based on non-linear disturbance observer. The control input of the vehicle-manipulator coupling system is designed based on the sliding mode surface and the non-linear disturbance observer output. This ensures that the vehicle-manipulator coupling system can operate precisely along the desired trajectory.

The invention discloses a high-flow-resistance multi-point observation type fish school monitoring underwater robot based on multi-source data fusion. The high-flow-resistance multi-point observation type fish school monitoring underwater robot comprises a shell, a self-adaptive ocean current resistance system and an energy system. The self-adaptive ocean current resistance system comprises an ocean current information detection module and a PID control algorithm real-time regulation and control propeller module; the ocean current information detection module is used for collecting ocean current information in real time, including water velocity, direction and turbulence intensity; the control algorithm real-time regulation and control thruster module regulates and controls the power and direction of a thruster in real time by utilizing a PID control algorithm according to ocean current changes, and it is ensured that the underwater robot keeps stable in complex ocean currents; the telescopic multi-sensor fusion system collects multi-dimensional data of a fish school by combining a plurality of sensors, and performs fusion analysis on the data by using a deep learning algorithm, thereby realizing high-precision fish school identification and tracking. And an integrated ocean current-solar energy system enables the underwater robot to have long-time cruising ability.

The invention relates to the technical field of ocean salvage ship anchors, and discloses an ocean salvage ship anchor method which comprises the following steps: delimiting a ship anchor preliminary search range according to historical records and environmental data of a ship anchor falling area; acquiring the accurate position of the ship anchor by using a multi-mode composite positioning technology, wherein the multi-mode composite positioning technology comprises a positioning process based on sonar detection, magnetic sensing and underwater image recognition; through a multi-ship collaborative optimization scheduling system, a salvage task is allocated according to ship functions and real-time positions, a salvage ship and a salvage tool are controlled according to an optimized path, and ship anchor salvage operation is executed; and adjusting the salvage path and the operation parameters based on the real-time environment data until salvage is completed. A multi-mode composite positioning technology is adopted, and through combined application of sonar detection, magnetic sensing and underwater image recognition, the technical effect of quickly and accurately positioning the ship anchor in a complex underwater environment is achieved.

The disclosure provides a communication delay compensation method and a communication delay compensation system based on an autonomous robot, where the method includes the following steps: establishing a state equation based on a system model of an AUV positioning system; acquiring an included angle between a direction vector of AUV to an observation station and a velocity vector of AUV based on the system model; establishing an observation equation according to the state equation and the included angle; establishing an extended Kalman filter equation based on the system model, the included angle and the observation equation; and calculating a position information predicted value at the current time by using the extended Kalman filter equation to complete communication delay compensation.

The present disclosure relates to the field of underwater robots, and in particular to a controllable sinking and floating swimming pool robot and a sinking and floating control method for a swimming pool robot. The controllable sinking and floating swimming pool robot of the present disclosure includes a sinking and floating control unit configured to control a swimming pool robot to float and sink; a waterline detection unit configured to detect a positional relationship between the swimming pool robot and a waterline of a liquid surface of a swimming pool where the swimming pool robot is located; and a main control unit configured to control a working state of the sinking and floating control unit to enter a floating working state based on detection results to realize a floating of the swimming pool robot.

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 relates to the technical field of underwater vehicle drainage, and discloses an air and carbon dioxide linkage drainage device and an underwater vehicle, the air and carbon dioxide linkage drainage device comprises a power unit, an air unit, a pressure reduction unit and a flow guide assembly, and the power unit is provided with a first storage cavity; the first storage chamber is used for storing liquid carbon dioxide, the air unit is provided with a second storage chamber, the second storage chamber is used for storing high-pressure air, the pressure reduction unit is provided with a pressure reduction chamber, the first air inlet is communicated with the pressure reduction chamber, the first air outlet is communicated with the water ballast space, and a first heating source is arranged in the second storage chamber; the heating source is suitable for generating heat after receiving the signal so as to heat the air stored in the second storage chamber. The technical problems that in the air release process and when the air is in contact with water, the temperature is reduced, so that the volume of the air is reduced, and the drainage capacity of the air and carbon dioxide linkage drainage device is reduced are solved.

The invention relates to the technical field of structure inspection, in particular to a bridge pier underwater structure inspection system based on an unmanned underwater robot, which comprises an inspection period adjustment module, an anomaly recognition module, an automatic supplementary shooting module, a damage evaluation module and a bridge pier anomaly evaluation module. According to the invention, bridge pier underwater structure inspection is executed through the unmanned underwater robot, the inspection period is dynamically adjusted according to the traffic flow, fine management of inspection work is realized, the inspection frequency can be adjusted according to actual use conditions and external influence factors, potential structure problems are effectively prevented and found, and the inspection efficiency is improved. The damage area can be quickly and accurately calibrated by image acquisition and automatic anomaly recognition performed by the unmanned robot, supplementary shooting is performed when necessary, the image quality is improved, the data reliability is ensured, and the influence of damage on the structural safety can be accurately evaluated by comparing the positions and overlap ratios of the damage area and the key bearing area of the bridge pier, so that the safety of the bridge pier is improved. And a scientific basis is provided for maintenance decision.

An environment multi-parameter monitoring base station capable of being used for long-term seafloor work is laid to the seafloor through a mother ship in a cable mode, energy is supplied through a dissolved oxygen seawater battery, long-term seafloor environment in-situ monitoring operation is carried out through carried universal and special instruments and equipment, a shore-based instruction is received to adjust a monitoring strategy, and the monitoring base station is used for monitoring the seafloor environment. Monitoring data is transmitted back to the shore-based laboratory in real time; the monitoring base station comprises a rack system, a monitoring system, a control system, a communication system, an energy supply system and a laying and recycling system; the monitoring system is used for completing in-situ monitoring operation on the influence of a seabed biochemical environment and benthos by adopting a general monitoring instrument and an extended special instrument; and the communication system is used as a signal transmission medium to perform parallel and uplink and downlink data transmission and instruction issuing so as to realize networking between the base station and each node around the base station and interaction and communication between the base station and a water surface buoy or a ship.

The invention relates to the technical field of aircrafts, in particular to a built-in compressed air and carbon dioxide linkage drainage system and an aircraft. The drainage system comprises a drainage device, a water ballast tank, a first connecting pipeline and a control unit, a first storage cavity for storing liquid carbon dioxide is formed in the first power unit, a second storage cavity for storing high-pressure air is formed in the second power unit, and a pressure reduction cavity is formed in the pressure reduction unit; the first storage chamber and the second storage chamber are both selectively communicated with the pressure reduction chamber; the water ballast tank is provided with a third storage chamber selectively communicated with the pressure reduction chamber; the first connecting pipeline is connected with the second power unit and the pressure reduction unit, and a first on-off valve is arranged on the first connecting pipeline; the first power unit is suitable for converting liquid carbon dioxide into high-pressure supercritical carbon dioxide under the control of the control unit, and the high-pressure supercritical carbon dioxide enters the third storage chamber after being decompressed by the decompression chamber, so that the first connecting pipeline selectively communicates with the second storage chamber and the decompression chamber.

This disclosure provides an adaptive STSMC hierarchical control method for depth tracking of an underwater vehicle. The method includes: using an adaptive line-of-sight guidance algorithm to estimate the vehicle's angle of attack in real time and obtain an expected pitch angle; employing a nonlinear interference observer based on a sliding mode surface error to detect unknown interference; and applying an STSMC controller with adaptive saturation compensation to determine the expected control rudder angle from the sliding mode surface error, the expected pitch angle, and the observed interference. The adaptive saturation compensation corrects the rudder angle based on the saturation deviation, which is determined by the previously calculated expected control rudder angle and the actual output rudder angle at the previous moment. By introducing an adaptive saturation compensator in the dynamic control layer, the issue of rudder angle saturation is mitigated, thereby enhancing both control performance and stability.

A water sports mask is provided, which includes a viewing window portion, a frame portion and a waterproof skirt. The waterproof skirt has a first region, a second region, and at least one groove formed therebetween. The groove has at least two of a width, a depth and an outer angle, each being specifically ranged in value, to substantially increase a degree of flexible deformation of the waterproof skirt. Therefore, when a user wears the water sports mask, a rear edge of the second region is configured to be more suitably fit along a contour of a face of the user.

The invention relates to the technical field of underwater vehicles, in particular to a modular supercritical carbon dioxide phase change drainage device and an underwater vehicle. The modular supercritical carbon dioxide phase change drainage device comprises a plurality of power unit sets, a plurality of pressure reduction units and a flow guide assembly, each power unit set comprises a plurality of power units, each power unit is provided with a first storage cavity, and the first storage cavity is used for storing liquid carbon dioxide; the plurality of pressure reduction units are in one-to-one correspondence with the plurality of power unit groups, each pressure reduction unit is provided with a pressure reduction chamber, the pressure reduction chambers selectively communicate with the corresponding first storage chambers, and the pressure reduction chambers of the plurality of pressure reduction units communicate with one another; the flow guide assembly is provided with a first air inlet and a first air outlet, the first air inlet communicates with at least one of the multiple pressure reduction cavities, and the first air outlet communicates with the water ballast space. The modular supercritical carbon dioxide phase change drainage device is small in occupied space, safe, efficient and high in drainage capacity.

The present invention relates to a fuel cell wastewater degassing tank 10, wherein the fuel cell wastewater degassing tank 10 has a housing 20, wherein the fuel cell wastewater degassing tank 10 has an anode water region 30 arranged in the housing 20 and a cathode water region 40, wherein the fuel cell wastewater degassing tank 10 has an anode water inlet 32 ​​arranged in the anode water region 30 and a cathode water inlet 42 arranged in the cathode water region 40, wherein the fuel cell wastewater degassing tank 10 has a water outlet 60 arranged in the cathode water region 40, wherein the fuel cell wastewater degassing tank 10 has an anode gas outlet 34 in the anode water region 30, wherein the fuel cell wastewater degassing tank 10 has a cathode gas outlet 44 in the cathode water region 40 wherein a water transfer is provided between the anode water region 30 and the cathode water region 40,wherein the water transfer has a water inlet 52 in the anode water region 30, wherein the water transfer has a transfer point 50, wherein the transfer point 50 is arranged at the transition from the anode water region 30 to the cathode water region 40, wherein the water inlet 52 is arranged below the transfer point 50.,

The invention relates to an underwater mechanical arm dragging control method and a mechanical arm system, and is suitable for the fields of ocean exploration, deep sea operation and the like. According to the method, dragging control input of an operator is received through a force feedback handle or virtual reality equipment, and input signals are converted into motion instructions of all joints of the mechanical arm through an inverse kinematics formula. The system is provided with a force sensor and an attitude sensor, feedback data of the underwater environment is collected in real time, the motion trail of the mechanical arm is dynamically optimized based on a PID control algorithm, and high precision and flexibility of the mechanical arm are kept in the complex underwater environment. The system has a multi-degree-of-freedom design and can execute diversified fine operation tasks, a force feedback mechanism ensures that an operator perceives force changes in real time, and the safety and accuracy of operation are improved. The wireless communication module ensures stable transmission of underwater signals, realizes remote operation and real-time feedback, and is suitable for complex underwater operation scenes.

The invention relates to a multi-mode self-adaptive underwater propeller and a control method thereof, and the multi-mode self-adaptive underwater propeller comprises an information collection module which comprises a sonar sensor, a magnetic sensor, an inertia measurement unit and a water pressure sensor; the data analysis module receives the multi-source data from the information acquisition module and generates a unified environment state model through a multi-source information fusion algorithm; the mode switching module is used for calculating the risk level of the current operation state based on a preset comprehensive evaluation index and selecting a corresponding operation mode according to the risk level; the power adjusting module is used for adjusting the power output characteristics of the propeller according to the selected operation mode; and the redundant fault-tolerant module is configured with a standby sensor group and switching logic, and when the main sensor group is interfered or breaks down, the standby sensor group is automatically started and the environment state model is recalculated.

Provided in the present application is an underwater robot, including a robot body and a trigger mechanism. The trigger mechanism includes a sealed cabin, a driving mechanism, and a sensing structure, where the sealed cabin is disposed in the robot body, and the sensing structure is disposed in the sealed cabin and electrically connected to the driving mechanism. The sensing structure is configured to detect whether the underwater robot enters water, and trigger the driving mechanism to work, so that the underwater robot moves in the water and performs cleaning.

According to the present invention, it is possible to improve the effects such as search tasks when searching for an object by a plurality of systems. 【Solution means】The present invention is a control system for searching for an object in a predetermined first area using a plurality of mobile bodies, and is obtained from a cooperation system capable of measuring a second area including at least a part of an area outside the first area. Based on the acquired information, an object information interpretation unit that interprets object information regarding an object existing in the second area, and based on the object information, an entry prediction information generation unit that generates entry prediction information regarding the predicted content of the object entering the first area from an area outside the first area, and the entry prediction information generated by the object movement prediction unit, or information regarding a mobile body movement command for some or all of the plurality of mobile bodies generated by the mobile body movement determination unit based on the entry prediction information, and an information output unit that performs display output or transmits to the outside.

Disclosed is a propeller, including a main driving device. Foldable blades and a fixed propeller are detachably connected to a projecting shaft of a driving motor. When the foldable blades are arranged, the propeller can be used as a hydrofoil board booster, and be clamped to a vertical rod of the hydrofoil board. When a fixed propeller is surrounded by a water flow culvert pipe provided with water inlet grooves, the propeller can be handheld with a handheld bracket or worn to advance and play underwater. Further, the propeller can be used as a guiding device for a diving apparatus. In combination with a gas cylinder and an airbag, the propeller can also be used as a scuba gear. Together with movable and fixed hydrofoil boards, the propeller can also be used as a gliding apparatus for diving.

A method includes: calculating a first difference between a current actual attitude of a fuselage and a desired attitude and a second difference between an actual depth and a desired depth; inputting the first difference and the second difference into a set terminal sliding mode surface to obtain an output value of the terminal sliding mode surface; using the output value as an input of a preset high-order observer, a radial basis function neural network and a terminal sliding mode control law, respectively, and using an output of the high-order observer and an output of the radial basis function neural network as a compensation input of the terminal sliding mode control law; performing power distribution for each propeller of a propeller assembly on the basis of the virtual force to obtain a propelling force of each propeller; and controlling the propellers of the underwater submersible robot.

The invention belongs to the technical field of deep-sea mining environment assessment, and particularly relates to an autonomous multi-mode mining plume and redeposition thickness monitoring system and method, and the system comprises an autonomous underwater unmanned submersible and detection load equipment connected with the autonomous underwater unmanned submersible. The autonomous underwater unmanned submersible is used for carrying detection load equipment, providing electric energy for the detection load equipment, sending a control instruction to the detection load equipment, preprocessing received data returned by the detection load equipment, and sending an equipment state to the mother ship in real time, so that the mother ship can monitor the autonomous underwater unmanned submersible in real time; the detection load equipment is used for synchronously carrying out deep sea near-bottom mining plume and redeposition thickness monitoring in three detection modes of acoustics, optics and hydrology, carrying out multi-category data comparison and fusion in the same time coordinate system, and sending the collected data to the autonomous underwater unmanned submersible; and data support is provided for later deep-sea mining plume and redeposition simulation modeling.

The invention discloses a drilling-grouting integrated underwater robot and aims to meet the requirement for precise operation in a complex underwater environment. The robot integrates the fin antenna, the hydraulic telescopic crawler belt, the hydrodynamic force wings, the bionic mechanical arm and the integrated drilling and injecting system, and has the multi-terrain adaptation, efficient navigation and autonomous operation capacity; through modular design and a high-strength pressure-resistant structure, the robot can complete tasks such as pipeline repair, resource exploration and infrastructure construction in a deep sea high-pressure environment; the core technology comprises a multi-mode propulsion system, intelligent sensing and navigation, AI optimization operation and dual-mode operation switching. Typical application scenes include submarine pipeline damage repair, deep sea mining area reinforcement sampling, cross-sea bridge pile foundation grouting and the like. The limitation that a traditional underwater robot is single in function and high in energy consumption is broken through, and the safety and efficiency of complex underwater engineering are remarkably improved.

The invention discloses a crack detection and grouting repair system for underwater concrete, which comprises a visual operation system and an underwater robot controlled by the visual operation system, the underwater robot comprises a bearing plate, a multifunctional converter arranged below the edge of the bearing plate, and a power assembly, a camera shooting assembly, a detection assembly, a crack repairing assembly and a control circuit which are arranged in corresponding areas of the bearing plate. The detection assembly comprises an ink jet head arranged on the multifunctional converter, the ink jet head is used for carrying out ink jet treatment on the suspected crack area, and the ink jet head is connected with a corresponding ink storage box; the crack repairing assembly comprises a high polymer spray head arranged on the multifunctional converter and a pinhole grouting head arranged below the base, the high polymer spray head and the pinhole grouting head are communicated with a micro grouting machine, the high polymer spray head is used for narrow crack grouting repairing, and the pinhole grouting head is used for wide crack grouting repairing. The invention aims to realize crack detection and repair of underwater concrete.

A control system for a towed object (1, 6; 20; 30; 50) in or on a body of water comprise one or more towing members (3) extending between the object (1) and a towing vessel (2). One or more ballast members (4) are movably connected to a respective one of said one or more towing members (3) and controllably movable at least a distance along its respective towing member. The towed object (1) may be controlled by moving one or more ballast members (4) on a towing member (3) in order to control the catenary (c) of a towing member (3). Individual ballast members (4) may be manipulated individually in order to correct, preserve or otherwise change the geometry of a trawl.

The invention belongs to the technical field of marine seismic exploration, and discloses a submarine node laying device and laying method based on a wireless underwater robot. The seabed node laying device comprises a node laying control unit arranged on a node ship, a node matrix retracting and releasing unit arranged on the node ship, a node matrix used for filling an OBN and conveying the OBN to an underwater specified depth, and at least two wireless underwater robots used for carrying the OBN underwater and completing OBN laying. The node matrix is connected with the node laying control unit and a power supply system of the node ship through a multifunctional cable so as to realize data communication and power transmission; the node matrix is connected with the node matrix retracting and releasing unit through a steel cable so as to achieve underwater lifting and releasing of the node matrix. And the wireless underwater robot realizes data communication with the node matrix in a radio communication mode. By means of the device, the operation mode that double-node matrix alternate operation is adopted, and multiple wireless underwater robots throw nodes is adopted, and the OBN laying speed can be increased in a multiplied mode.

The invention discloses a quasi-zero stiffness metamaterial vibration reduction mounting structure of an underwater vehicle hydrophone, which belongs to the technical field of underwater vehicles, and comprises an oil seal end cover mounted at the front end of a front fairing of an underwater vehicle, a mounting rack fixed at the front end part of the oil seal end cover, and two quasi-zero stiffness vibration reduction components arranged in front of and behind the mounting rack, the outer side parts of the quasi-zero-stiffness vibration reduction components are connected with the mounting frame, concave parts for clamping the end parts of the hydrophone are formed in the middle parts of the quasi-zero-stiffness vibration reduction components, and a mounting space for arranging the hydrophone is formed between the two quasi-zero-stiffness vibration reduction components; and the two ends of the hydrophone are respectively clamped and clamped in the concave parts of the two quasi-zero stiffness damping components. According to the quasi-zero-stiffness metamaterial damping device, through conformal design, vibration attenuation, structure optimization and energy-saving effects, an efficient, stable and low-noise hydrophone installation solution is provided for an autonomous underwater vehicle, and the performance of the quasi-zero-stiffness metamaterial damping device in underwater detection and signal acquisition is remarkably improved.

The invention relates to the technical field of intelligent monitoring, in particular to an underwater robot monitoring device and method based on muon imaging and navigation positioning, and the device comprises a transmission and control subsystem which is used for driving an underwater robot to complete a target action task in an underwater pipeline; the muon imaging positioning subsystem is used for acquiring high-energy imaging information and a three-dimensional coordinate position of the underwater robot so as to assist the underwater robot in completing a target action task; the underwater scanning, monitoring and early warning subsystem is used for evaluating a water sample of the underwater pipeline to generate a water quality evaluation report and acquiring surrounding terrain and geological feature information of the underwater pipeline to generate an underwater three-dimensional image; and the multi-source data fusion transmission base station is used for fusing the water quality evaluation report, the high-energy imaging information and the underwater three-dimensional image to generate a state evaluation report. Therefore, the problems of insufficient penetrating power, low resolution, signal interference and the like of the existing underwater monitoring technology and the like under the conditions of deep water, high turbidity or complex terrains are solved.

A mask for a water activity is provided. The mask includes two lenses, a waterproof skirt and a fastening device. The waterproof skirt is integrally formed with two lens frames, a nose covering portion and a rear edge. The two lens frames are independent of each other and each of them has an inner portion, in which the two lenses are embedded in the two lens frames in a watertight manner, respectively. The nose covering portion protrudes forward between the two lens frames. The rear edge is configured to closely fit a face of a user. When the user wears the mask through the fastening device, the two inner portions of the two lens frames are configured to be adjacent to two orbital bones of the user, respectively.

The invention relates to the technical field of signal buoys, and particularly discloses a signal buoy for a submersible, comprising: a power mechanism comprising a housing and a driving motor, an output shaft of which is connected with a rotating shaft; the heat dissipation assembly comprises an air storage bag, the air storage bag is arranged at one end of the shell in a communicating mode, the outer side of the air storage bag is sleeved with an air bag protection shell, and the air bag protection shell is detachably connected with one end of the shell and provided with a sealing ring; the take-up and pay-off assembly comprises a wire coil and a guide ring, the rotating shaft is sleeved with the wire coil, the guide ring is located above the wire coil, a cable is wound around the wire coil, and the upper end of the cable penetrates through the guide ring and is connected with a floating ball assembly; the floating ball assembly comprises a shell and a communication assembly, the communication assembly is a sonar or underwater acoustic modem, a stuffing box is arranged below the shell, and the upper end of the cable penetrates through the stuffing box and is electrically connected with the communication assembly. According to the invention, high requirements of deep sea exploration and underwater operation on communication tools are met, and more secure and convenient use experience is provided for users.