2965results about "Underwater vessels" 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 present disclosure provides a cleaning device. The cleaning device includes a cleaning device body, a drive mechanism, a filtering mechanism, a liquid inlet portion, a liquid outlet portion, and a mode switching member. The drive mechanism and the filtering mechanism are disposed on the cleaning device body. The liquid inlet portion includes at least a first water inlet. The first water inlet is provided on the cleaning device body. The liquid outlet portion includes at least a first water outlet. The first water outlet is provided on the cleaning device body. The first water inlet, the filtering mechanism, the drive mechanism, and the first water outlet sequentially communicate to form a first water path. The mode switching member is configured for the cleaning device to be switched between a position on a liquid surface and a position under the liquid surface.

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 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.

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 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.

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.

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.

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.

In accordance with the present invention, unmanned watercraft can be utilized to perform multiple missions. [Solution] The present invention is a control system for controlling the operation of a single or multiple unmanned boats equipped with a first measurement sensor, and includes a data collection request acquisition unit that acquires request information or plan information for an ocean data collection mission that uses the first measurement sensor to collect ocean data of the ocean area in which the unmanned boat is deployed, an other mission request acquisition unit that acquires request information or plan information for other missions different from the ocean data collection mission, a multiple mission execution feasibility determination unit that determines whether multiple missions including the ocean data collection mission and the other missions can be carried out in parallel, and an unmanned boat operation execution unit that controls the operation of carrying out the multiple missions in parallel when it is determined that the multiple missions can be carried out in parallel.

The invention provides a multi-mode underwater detection robot. The robot comprises a body section assembly formed by connecting a plurality of cabin pipe assemblies and power cabin assemblies in series. Joints between the cabin pipe assemblies are connected through joint connecting pieces (7); a steering engine joint piece (3) is arranged at the joint connecting piece, a propeller propelling device (4) is arranged at the power cabin assembly, and when the underwater posture and the propelling working condition of the robot are adjusted, a steering engine of the steering engine joint piece applies force to the joint connecting piece to change the included angle of the joint connecting piece, so that the body section assembly is twisted, and the posture of the robot is converted into different modes; the propelling direction of the propeller propelling device is changed; the problems that an existing underwater robot is single in mode, incapable of adapting to complex environments, low in energy efficiency, difficult in structure maintenance and poor in function expansion capacity can be solved.

A method, system, and computer-readable media for providing a mountable directed-energy system comprising a directed-energy source for generating and transmitting directed-energy. At least a portion of the directed-energy system may be mounted to one or more other devices such as any of a vehicle, drone, or other manually operated, autonomous, or semi-autonomous system.

The invention particularly relates to an underwater vehicle multi-energy hybrid energy storage system and a coordinated energy management strategy. The system comprises a lithium ion battery, a super capacitor and a fuel cell applying a proton exchange membrane which are respectively connected to a direct current bus. The method for coordinating the energy management strategy comprises the following steps: acquiring a current motion parameter and a current energy parameter of an underwater vehicle; inputting the current motion parameter, the current energy parameter and the expected navigational speed into a load prediction model based on a BP neural network, and estimating the expected total power at the next moment; and determining a corresponding action strategy according to the current operation mode of the underwater vehicle, and performing power distribution on the expected total power based on the action strategy. According to the scheme, the hybrid energy system can perform smooth working mode switching and optimal power distribution under different working conditions.

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.

Provided is a bionic rescue robot fish, including a fish body skeleton, a fish head skeleton, a fishtail swing mechanism, a pectoral fin swing mechanism, a rescue mechanism and a buoyancy adjusting mechanism. The fish body skeleton is movably connected to the fish head skeleton. The fishtail swing mechanism, the pectoral fin swing mechanism, the rescue mechanism and the buoyancy adjusting mechanism are arranged on the fish head skeleton. Bionic fish skin is attached to surfaces of the fish body skeleton and the fish head skeleton in a sealing manner. The fishtail swing mechanism, the pectoral fin swing mechanism, the rescue mechanism and the buoyancy adjusting mechanism are each communicated with a control unit. The rescue mechanism can release a lifesaving airbag, and the buoyancy adjusting mechanism can change the volume of fish belly part.

The present invention discloses a pectoral fin steering bionic fish driven by a dual-half-gear mechanism. The head of the fish comprises an outer shell formed by two interlocking shells, which is an asymmetrical structure with a waterproof cavity formed inside. Pectoral fins are arranged on either side of the outer shell, and a pectoral fin control mechanism for controlling the rotation of the pectoral fins is located within the waterproof cavity. The tail is formed by assembling a multi-section skeleton. A dual-half-gear tail swing mechanism for controlling the swing of the tail fin is located within the skeleton. The skeleton is covered with waterproof fish skin. The dual-half-gear tail swing mechanism includes a main shaft, two spaced-apart half-gears connected to the main shaft, and a rocker arm. The rocker arm has a mating gear, which is connected to a sleeve arm that is inserted into the rocker arm to form a linear bearing structure. The sleeve arm extends rearwardly through a pin to connect to the skeleton. The dual-half-gear mechanism and the linear bearing structure transmit swinging power to control the swing of the fish tail. The present invention utilizes a dual-half-gear tail swing mechanism to control tail swinging, resulting in high mechanical transmission efficiency, high control accuracy, and the ability to perform relatively complex motions.

The submarine cable laying robot comprises a main body frame, a buoyancy adjusting device is arranged at the top of the main body frame, spiral propellers are arranged on the two sides of the main body frame respectively, a cable pressing device and two spraying devices are arranged at the bottom of the main body frame, and the two spraying devices are symmetrically arranged at the bottom of the main body frame. The cable pressing device is arranged corresponding to the two spraying devices; the spiral propeller is used for driving the submarine cable laying robot to walk on the seabed, the buoyancy adjusting device is used for adjusting the buoyancy of the submarine cable laying robot on the seabed, and the two spraying devices are used for digging cable burying grooves with the corresponding depths in the corresponding positions of submarine cables in the mode of spraying high-pressure liquid. And the cable pressing device is used for pressing the cable into the cable burying groove. The device has the universality of different cable burying depth operations and the universality of different seabed geological operations, the operation efficiency and safety are improved, and the cost and the risk are reduced.

According to the underwater propeller control method based on multi-parameter fusion and the related equipment, the autonomous decision-making ability and adaptability of the underwater propeller in different environments are improved, more intelligent and more efficient control is achieved, and therefore the overall stability of the underwater propeller can be improved. The method comprises the steps that the water flow velocity and regional terrain information of a target region where the underwater propeller is located are collected; a three-dimensional flow field real-time sensing model is established based on the water flow velocity and the regional topographic information, and multi-modal data are acquired according to the three-dimensional flow field real-time sensing model and comprise the water flow velocity, the water flow pressure, the water flow intensity, the three-dimensional topographic coordinates and the topographic height of a target region; carrying out dispersion filtering on the multi-modal data and then fusing the multi-modal data to obtain target multi-modal data; and constructing a multi-modal neural network model through a time sequence attention mechanism based on the target multi-modal data.

To study a system that transmutes atomic nuclei using muons, devise a light source device and a propulsion device including a nuclear transmutation system, and examine a centrifugal force application unit which may be accelerated by the propulsion device, and devise an electric field generator or a magnetic field generator.SOLUTION: A system is devised that decelerates cosmic muons produced from cosmic rays or high-speed muons derived from mesons produced from atomic collisions with electric field and deceleration means and uses the muons for nuclear transmutation. Also, a decelerator using a laser wake field and a decelerator using an element forming an electric field are proposed. A radiation light source having the nuclear transmutation unit is disclosed. An ionization device, a centrifugal gun device, a centrifugal force and pressure applying device, a pressure generation unit, a pressure applying material, a high-pressure induction superconductivity experimenting system, a magnetic device, and a magnetic sail are disclosed.SELECTED DRAWING: Figure 18

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 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 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 pressure reduction chamber selectively communicates with the first storage chamber and the second storage chamber, and the flow guide assembly is provided with a first air inlet and a first air outlet; the first air inlet is communicated with the pressure reduction cavity, and the first air outlet is communicated with the water ballast space. The technical problems that carbon dioxide is prone to cooling when encountering water, then volume shrinkage is caused, and the drainage capacity of an air and carbon dioxide linkage drainage device is reduced are solved.

When using a drone to monitor or survey an object on the water, the position of the object can be determined more accurately, or the object can be analyzed more accurately. [Solution] The present invention is an information control system comprising a group of moving bodies consisting of multiple moving bodies equipped with measurement sensors capable of acquiring measurement data measuring an object when at least a portion of it is above water, a moving body operation control unit that controls the operation of the moving bodies, a measurement data acquisition unit that acquires first measurement data measured of the object from a first position by at least one of the moving bodies in the group of moving bodies and second measurement data measured of the object from a second position by the moving body or another moving body, an object position determination unit that determines position information of the object based on the first measurement data and the second measurement data, or determines the validity of the determined position information, and an information output unit that displays or transmits to the outside the position information of the object determined by the object position determination unit.

The invention provides a deep sea hydrothermal sampling system benthonic submersible and a state control method, and the method comprises the steps: planning a motion track according to a task demand, and dynamically adjusting the control force distribution weight of a propeller and a mechanical leg system according to an error between an actual motion state and an expected value, thereby optimizing the motion performance, and improving the stability of the underwater submersible. Through thrust distribution and inverse dynamics decomposition, the thrust and rotating speed of each propeller and the joint torque of the mechanical leg are accurately controlled, through the combined action of the mechanical leg and the propeller, the pose stability of the benthonic submersible in the working process is kept, the benthonic submersible has the capabilities of resisting ocean current interference and adapting to rugged terrains, and then the position pose precision of a hydrothermal sampling system is guaranteed. The operation efficiency is ensured, a closed-loop control system fuses sensor data, the data are processed by a state observer / filter, and the actual state of the submersible is fed back in real time, so that the precision and stability of motion control are improved, and the operation capability and adaptability of the submersible in a complex environment are enhanced.

The invention discloses a multi-energy coordination and monitoring platform for offshore oil and gas development, which relates to the technical field of multi-energy coordination and comprises a floating platform main body, and a solar power generation array (1), a sub power generation system (2), a main power generation system (3) and a water turbine cross beam (4) which are positioned on the floating platform main body, the floating platform main body adopts a hexagonal modular structure; the solar power generation array (1) comprises a plurality of monocrystalline silicon photovoltaic panels which are uniformly distributed on the floating platform main body; the sub power generation systems (2) are positioned at six vertexes of the floating platform main body; the main power generation system (3) is located in the center of the floating type platform body. And the water turbine cross beams (4) are uniformly distributed on the periphery of the floating platform main body. By comprehensively utilizing renewable energy sources such as solar energy, wind energy, wave energy and ocean current energy, stable and sustainable energy supply can be provided for the offshore oil and gas platform, and various pain points of a traditional energy supply mode are overcome.

The invention relates to the technical field of underwater vehicles, and discloses a built-in phase change drainage system and an underwater vehicle, the built-in phase change drainage system comprises a drainage device, a water ballast tank and a control unit, the drainage device comprises a first power unit and a pressure reduction unit, a first storage chamber for storing liquid carbon dioxide is arranged in the first power unit, and a pressure reduction chamber is arranged in the pressure reduction unit; the water ballast tank is provided with a containing cabin used for containing water, and the containing cabin is selectively communicated with the pressure reduction cavity. The control unit is in communication connection with the first power unit, 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 carbon dioxide enters the containing cabin after being subjected to pressure reduction of the pressure reduction cavity so as to discharge water in the containing cabin. The drainage system is safe, efficient and high in drainage capacity.