2051results 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 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.

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 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 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.

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 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 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 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.

The invention discloses a deep sea mineral lifting unmanned transportation system. According to the system, an unmanned carrier-intelligent execution-elastic scheduling framework is constructed, and the system comprises four modules including unmanned carrying equipment, a communication network system, a scheduling control center and a support safeguard system. The unmanned carrying equipment realizes mineral transportation based on buoyancy driving; the communication network adopts a layered redundant architecture of underwater sound OFDM and a laser emergency link, and high-reliability communication and centimeter-level positioning are guaranteed; the scheduling control center improves the operation efficiency through intelligent task allocation and trajectory planning; the support and guarantee system integrates energy management, digital twin monitoring and emergency response mechanisms. The operation process adopts a mode of mainly unmanned autonomous and assisted by remote monitoring, and the links of ballast diving, acousto-optic docking, buoyancy regulation and control, mother ship dynamic unloading and the like are covered. The deep-sea mineral lifting efficiency, maneuverability and reliability are remarkably improved, and core technical support is provided for deep-sea resource development.

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.

An autonomous underwater vehicle (1) has a housing (10) having a measurement system (13) with three acceleration or speed sensors on different axes from one another, and a processing unit configured to generate seismic data from the received seismic waves (S1) and to determine the direction (D2) of the acoustic waves (S2) transmitted by an acoustic transmitter (20) from a base (2) which are received by at least two sensors of the measurement system (13). The processing unit generates and transmits, to the navigation system (12), guidance data relating to the determined direction (D2) of the received acoustic waves (S2). The navigation system (12) is configured to control the propulsion and steering system (11) of the vehicle according to the guidance data in order to guide the movement of the vehicle towards the base.

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 present disclosure provides a cleaning device, including a cleaning device body, a cleaning cavity, a liquid inlet portion, a filtering mechanism, and a mode switching member. The cleaning cavity is configured to accommodate a first cleaning part. The liquid inlet portion is laterally provided in the cleaning cavity in a length direction of the liquid inlet portion and provided in the cleaning cavity in a width direction of the liquid inlet portion. The filtering mechanism is at least partially provided in a front portion of the cleaning device body. The mode switching member is provided at the front portion of the cleaning device body and at least partially located above the filtering mechanism. A first motion state includes a state of performing underwater cleaning. When the cleaning device performs underwater cleaning, the liquid inlet portion is close to a to-be-cleaned surface. A third motion state includes a state of performing water surface cleaning. When the cleaning device performs water surface cleaning, the liquid inlet portion is at least partially located above a water surface. The cleaning device can perform at least two operating conditions: underwater cleaning and water surface cleaning. In addition, the liquid inlet portion is shared in performing the at least two operating conditions to filter out garbage. This reduces production costs and use costs.

The invention discloses an unmanned underwater vehicle floating material fixing structure, and relates to the technical field of underwater vehicle buoyancy materials. In order to solve the problems that in the prior art, a buoyancy material of an underwater vehicle is generally fixedly connected with the vehicle through a bolt, a polycarbonate protective layer is sprayed outside a hollow glass bead floating material, the floating material is easily damaged by replacing the buoyancy material and disassembling the bolt in the later period, and the buoyancy material is relatively fragile and cannot be damaged. The floating material is abraded due to repeated disassembly, and the polycarbonate protective layer is easy to fall off after long time, and the like. The device comprises a floating material, a screw sleeve, a nut sleeve and a protective layer, the floating material is arranged in an aircraft cabin composed of a framework and a non-pressure-resistant shell, a bolt through hole is machined in the floating material, a screw sleeve and a nut sleeve are embedded in the bolt through hole, and the outer portion of the floating material is integrally wrapped with a protective layer. The method is used for mounting and fixing the floating material of the unmanned underwater vehicle.

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 discloses an unmanned underwater laying device which comprises a load electronic cabin and a buoyancy material module, a first control magnet is arranged on the buoyancy material module, and a first magnetic control switch is arranged in the load electronic cabin; the unmanned underwater laying device has at least two working states; in the first working state, the unmanned underwater laying device is mounted on the unmanned underwater vehicle, the buoyancy material module is arranged between the unmanned underwater vehicle and the load electronic cabin, the distance between the first magnetic control switch and the first control magnet is within the effective action distance range of the magnet, and the first magnetic control switch is in an off state; under the condition that the unmanned underwater vehicle arrives at the target position, the unmanned underwater laying device is laid from the unmanned underwater vehicle, the unmanned underwater laying device is in the second working state, the buoyancy material module is separated from the load electronic cabin, and the first magnetic control switch is in the on state, so that the load electronic cabin is powered on. According to the embodiment of the invention, the invalid consumption of the battery of the unmanned underwater laying device can be minimized.

The invention discloses an ROV system carrying a multi-degree-of-freedom mechanical arm and a using method, the ROV system comprises the multi-degree-of-freedom mechanical arm, a collecting net cage, a plurality of underwater cameras, a plurality of LED lamps, a sonar and a plurality of underwater sensors, and by carrying the multi-degree-of-freedom mechanical arm, the flexibility of the mechanical arm is improved; (2) a plurality of underwater cameras are installed on the two sides of an ROV to observe the environment, installed near a mechanical arm joint to observe the grabbing condition and installed on a catching cage to observe the collection condition of marine products; (3) a leakage-proof catching cage is specially designed, so that the caught marine products are prevented from leaking; 4) a biological recognition algorithm is provided, target species and non-target organisms are distinguished based on AI image processing, and the fishing efficiency is improved; (5) a sonar and a near-field sensor are arranged, and ROV underwater obstacle avoidance and terrain adaptation are achieved; and (6) ROV bottom-sitting operation is provided, different from a traditional ROV design that the buoyancy is slightly larger than the weight, the design gravity of the ROV is slightly larger than the buoyancy, so that the ROV can carry out bottom-sitting operation in a free state, and interference of a propeller to the environment is reduced.

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 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.

A swimming pool robot and a method for controlling a swimming pool robot are disclosed. The swimming pool robot includes a liquid intake portion including at least a first intake and a second intake. During a process of switching the swimming pool robot from a first motion state to a third motion state, the swimming pool robot is first switched from the first motion state to a second motion state and subsequently switched from the second motion state to the third motion state. No matter whether when the swimming pool robot is in the first motion state or when the swimming pool robot is in the third motion state, the first intake faces a bottom of a swimming pool, and / or a posture of the swimming pool robot in the first motion state is substantially identical to the posture of the swimming pool robot in the third motion state.

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.

The invention relates to the technical field of unmanned underwater vehicle charging, in particular to an unmanned underwater vehicle charging system based on wave energy power generation, which comprises a vehicle body and a cabin cover, a dry cabin and a wet cabin which are communicated through a dynamic sealing cabin penetrating piece are arranged in the vehicle body, and an electric capstan, a stay wire type power generation device and a power storage module are arranged in the dry cabin. The electric capstan comprises a winding drum, an energy capturing unit is arranged in the wet cabin and comprises an air bag floater, an inflation assembly is arranged below the air bag floater, one end of the connecting cable is connected to the winding drum, the middle of the connecting cable is wound around the stay wire type power generation device, and the other end of the connecting cable penetrates through the dynamic sealing cabin penetrating piece to be connected with the air bag floater. The energy harvesting units for harvesting wave energy, the stay wire type power generation device and the power storage module are integrated in the unmanned underwater vehicle, the energy harvesting units can be sequentially released in the sea for multiple times to achieve in-situ autonomous charging in a task sea area, and the task duration time and the operation range of the vehicle in the deep and far sea are greatly prolonged.