1030results 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 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 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 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.

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.

Provided is a self-leveling rotary handling-type multi-autonomous underwater vehicle (AUV) docking and transfer device and its method. The device includes a docking module, a vertical handling module, and a rotary handling module; the docking module includes a rotary platform with a guide frame, and a top surface of the rotary platform is provided with a first clamping device; the vertical handling module is mounted on a side of the docking module; the vertical handling module includes a liftable handling platform, and the handling platform is provided with a locking device and a second clamping device; the rotary handling module is mounted below the docking module; the rotary handling module includes a multi-branch rotating shaft and a horizontal plate mounted on each branch rotating shaft; and the horizontal plate is arranged with an AUV charging and information interaction device and a third clamping device.

The underwater robot for retrieving an underwater glider according to the present invention for retrieving an underwater glider for exploring the underwater to a ship comprises a main body module; a gripping module provided on the main body module, gripping the underwater glider to prevent damage to the underwater glider by restricting movement of the underwater glider while adjacent to the underwater glider; a connecting module connected to the main body module so that the underwater glider is lifted by the gripping module to the ship in a fixed state; and a control module for controlling the main body module and the gripping module by receiving location information from a receiver provided on the underwater glider and determining a distance from the underwater glider.

The application discloses a buoyancy adjusting and communication device for underwater AUV, which comprises a communication cabin body, an integrated antenna, an inner oil tank, an air bag, an air bag pressing ring, an air bag cabin body, a rear end cover, a pump valve gas path assembly, a pump valve oil path assembly, an outer oil tank assembly and the like. The communication cabin body is connected with an AUV pressure cabin body and is sealed through an O-shaped ring. The integrated antenna is installed on the communication cabin body and is sealed through an O-shaped ring, and is used for the communication function of the underwater AUV. The inner oil tank is fixed on the air bag cabin body, and the air bag is sleeved on the air bag cabin body and is tightly sealed through the air bag pressing ring. The pump valve gas path assembly is used for discharging the gas in the cabin to the air bag or sucking the gas in the air bag into the cabin, so as to change the buoyancy state of the AUV. The pump valve oil path assembly is used for discharging the hydraulic oil in the inner oil tank to the outer oil tank assembly or sucking the hydraulic oil in the outer oil tank assembly into the inner oil tank, so as to change the buoyancy state of the AUV.

The invention provides a crawler-type desilting robot adaptive to complex terrains and a de-trapping method. The robot comprises a robot main body, the pair of forward rotatable supporting mechanisms is symmetrically mounted on the left side and the right side of the front part of the robot main body; the pair of backward telescopic supporting mechanisms are symmetrically mounted on the left side and the right side of the rear part of the robot main body; the propeller propelling mechanisms are mounted in the middle of the robot main body; and a control unit. According to the underwater robot, the supporting mechanism is tightly matched with the propeller propelling mechanism, so that the underwater robot can be quickly and stably separated from the dilemma such as sludge.

An autonomous tethered vehicle for recovering autonomous underwater vehicles (AUVs) is provided. The autonomous tethered vehicle includes an open-structure frame with vertical and horizontal frame members and a top surface attached to a top portion of the open-structure frame. The autonomous tethered vehicle further includes at least four horizontal thrusters operable to provide lateral maneuvering and at least two vertical thrusters operable to provide vertical thrust. Additionally, the autonomous tethered vehicle includes a plurality of onboard sensors operable to provide positional information of the autonomous tethered vehicle in reference to a nearby AUV, and an electronics housing unit having a control system operable to collect data from the plurality of the onboard sensors and make real-time operational decisions based on the collected data.

A hybrid aerial hydro drone includes a body with a plurality of hydraulic thrusters supported on an outer surface of the body and configured to propel the body in a marine environment. The drone also includes a plurality of rotor arms arranged on the body, each rotor arm comprising a rotor system configured to propel the body in an aerial environment. Each rotor arm is deployably configured between a deployed position in which the rotor systems are extended from the body for aerial traversal, and a folded position in which the arms are hydrodynamically folded behind the body for marine traversal. The body also includes a controller, an energy source, a main ballast chamber and a pump with snorkel for operation of the drone.

According to the present invention, it is possible to improve performance of monitoring and tracking of a moving body that moves in an ocean area or the like using a plurality of unmanned vehicles.SOLUTION: According to an aspect of the present invention, there is provided an underwater object detection system including an unmanned watercraft including a sound wave measurement unit configured to measure a sound wave in water and configured to navigate on water or in water, an operation command unit configured to command execution of a first measurement operation using the sound wave measurement unit executed by the unmanned watercraft, a measurement data acquisition unit configured to acquire first measurement data measured by the sound wave measurement unit by executing the first measurement operation, and a first object determination unit configured to detect an underwater object based on the first measurement data. When the first object determination section detects the underwater object based on the first measurement data, the operation command section commands the unmanned boat to execute a second measurement operation different from the first measurement operation, or the measurement data acquisition section acquires second measurement data obtained by the second measurement operation.SELECTED DRAWING: Figure 1

A system for connecting a coupling cover with a hull shell can include a magnetic actuated latch. The system can include a shell architecture positioned within the hull shell. The shell architecture can include a chassis extending within the hull shell and a chassis clasp extending from the chassis. The magnetic actuated latch 205 can also include a locking plate configured to be movably coupled with the coupling cover. The locking plate can include a locking catch recess formed in the locking plate and the locking catch recess is configured to receive the chassis clasp and a magnetically responsive actuator coupled with the locking plate.

The invention provides an underwater robot attitude stability monitoring method based on data processing, and the method comprises the steps: collecting the sensor data of an underwater robot, carrying out the filtering preprocessing and frequency domain analysis, obtaining a signal spectrum feature and an amplitude change rule, recognizing the multipath effect interference and pressure field fluctuation in a complex seabed environment, recognizing an interference signal, and carrying out the detection of the attitude stability of the underwater robot. Analyzing a sensor data quality change trend; the method comprises the following steps: performing preliminary window configuration, monitoring terrain reflection signal intensity change in real time, if the intensity exceeds a preset threshold range, dynamically adjusting a length parameter and an overlapping rate of a feature extraction window, and performing optimization calculation in combination with an initial parameter model to obtain an optimized window length parameter; and according to the optimized window length parameters, key abnormal features in the attitude data are extracted, a feature vector at the current moment is constructed, the matching degree of the feature vector and historical data is analyzed, and a preliminary judgment result of an abnormal state is determined through similarity calculation and threshold comparison.

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

This invention discloses a capture device for unmanned underwater vehicles (UUVs), comprising a submersible fixed by a mounting frame. The mounting frame is symmetrically mounted with a grasping mechanism for capturing the UUV via a base. The grasping mechanism includes a drive arm driven by the base, with the other end of the drive arm rotatably connected to four corner support frames. The four corner support frames are driven by connecting arms to contact claws for gripping. A groove is provided on the side of the drive arm near the base, and a servo motor is mounted on the base. The servo motor is connected to a gear at one end of a limiting link, transmitting power through the other end of the limiting link to the groove on the drive arm to achieve the movement of the grasping mechanism. This invention also discloses a method for launching and recovering UUVs in conjunction with the above-mentioned launch and recovery device. This invention simplifies precise hook docking operations in high sea states, reduces the dependence of UUVs on computing power during launch and recovery, and improves the automation level of the launch and recovery process.

The utility model relates to the technical field of underwater vehicles, and discloses a submarine cable inspection and fault detection unmanned remote control underwater vehicle which comprises a frame, a balancing weight is installed at the bottom of the frame, a buoyancy plate is installed on the upper portion of the frame, an anti-collision strip is installed on the front side of the buoyancy plate, and a lifting mechanism is installed on the top of the buoyancy plate. A branching cabin is arranged in the frame, a power supply cabin is arranged on the rear side of the branching cabin, an electronic cabin is arranged on the rear side of the power supply cabin, and a propeller is arranged on the rear side of the electronic cabin. According to the unmanned remote control underwater vehicle system, an open frame type design is adopted, different detection modules can be carried according to different application scenes and detection requirements, and the unmanned remote control underwater vehicle system has wide application scenes. The system is not only suitable for offshore wind power plant submarine cable inspection and fault location, but also can be applied to various tasks such as corrosion detection of offshore booster stations and fans, submarine cable burial depth exploration and the like by carrying various acoustic, optical, electromagnetic and other detection equipment, and has diversified application potentials.

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

The present invention provides a navigation control device, a navigation control system, a navigation control method, and a computer program for controlling the navigation of an underwater vehicle toward an area where an aerial vehicle is thought to be flying. [Solution] The navigation control device 10 detects the arrival of sound waves from an object 60 suspended in the water from the flying body 50, inputs direction information indicating the direction of the sound wave's arrival and distance information indicating the distance between the underwater navigating body 30 on which the device is mounted and the object 60, and uses the direction information and distance information to control the navigation of the underwater navigating body 30 toward a target position set below the flying body 50.

The AUV shallow stratum sonar imaging analyzer comprises a protection head machine body, one end of the protection head machine body is provided with an adapter, the interior of the adapter is rotatably connected with an air-blowing rotating core, the outer side wall of the protection head machine body is provided with an exhaust port, and the opening of the exhaust port is provided with a bionic gill grating. Front fan blades are arranged on the outer wall of the rotating position of the air-blowing rotating core, and side fan blades are arranged at an inlet of the air-blowing rotating core. The air inlet connector is connected with an air supply device on a ship body through an air pipe, air enters the protection head machine body and is guided out along the exhaust port, the bionic gill grating arranged at the opening of the exhaust port guides and sends the air to the rear side, the ejected air can rapidly generate a layer of buffer space, and therefore the safety of the ship is improved. And a machine body is effectively prevented from impacting a hard body in a rapid movement process.

Novel ships A, B, C1 and C2 are provided. A, propeller propelling systems 3, 4 and 5 are arranged below waterlines on the two sides of a prow; b, arranging ice surface sliding plates on two sides of the ship body, and arranging a high-power electric fan above the waterline of the stern; c1, front, middle and rear sliding plates are arranged on the two sides of the ship body, and a plurality of sets of 50-meter trailer locking sliding plates are arranged on the high-speed rail. And C2, front, middle and rear sections of sliding plates are arranged on two sides of the ship body, a plurality of groups of electric high-speed rail wheels are arranged below the sliding plates, and the track gauge of each group of electric high-speed rail is 1.435 m. The method is comprehensively discussed in the specification of the specific development implementation scheme in the theoretical and technical fields.

The invention relates to the technical field of ocean unmanned monitoring and searching, in particular to an ocean searching and underwater monitoring system based on an underwater small robot and a working method of the ocean searching and underwater monitoring system. The underwater robot is used as a core operation carrier, wireless communication, acoustic detection, a dual-module intrinsic safety type battery and an intelligent obstacle avoidance technology are integrated, and comprehensive upgrading of underwater searching and monitoring operation is realized: potential safety hazards of underwater operation of personnel are eliminated, cable dragging interference of a traditional cable control mode is avoided, and limitation of navigation duration and operation distance is broken through; and long-time low-noise monitoring is realized through a dual-module battery design, accurate target detection and autonomous obstacle avoidance are realized by combining acoustic information acquisition and an ultra-short baseline positioning system, and the navigation safety is improved. According to the invention, the intelligence, high efficiency and reliability of underwater unmanned monitoring and searching operation can be obviously improved, and the method has prominent practical value and popularization prospect.

The invention discloses an underwater profile water sample automatic collection device capable of setting trigger pressure, and relates to the technical field of underwater sampling. The sampler comprises a sampling mechanism and a driving mechanism. The sampling mechanism comprises a sampling barrel, a one-way valve and a piston type water pumping assembly with a piston and a spring; a water inlet is formed in the upper end of the sampling cylinder. The driving mechanism is mainly a transmission assembly, and the transmission assembly is specifically composed of a plug pin, a rotating shaft, a transmission gear, a driving cam, a pressure response air cylinder and the like. A piston rod in the pressure response air cylinder moves under the action of water pressure, a transmission gear is driven to rotate through a rack, a driving cam coaxially arranged with the transmission gear rotates along with the transmission gear and pushes a limiting device on a plug pin, limiting of the plug pin to a piston in the water pumping assembly is relieved, and the sampling barrel starts to collect water immediately. Automatic and reliable opening and closing are achieved through mechanical self-locking and spring energy storage, and the sampling fidelity is high; by setting the relative positions of the driving cam and the rotating shaft, a user can preset the closing triggering depth according to operation requirements; and meanwhile, by configuring a plurality of trigger nodes, the grading response and closing functions of the device under different water layer depths are realized, the sampling flexibility and the adaptability to different water layer environments are improved, and the operation requirements of diversified section sampling can be accurately met.

The application discloses an underwater robot based on electromagnetic exploration and an underwater exploration method, and belongs to the technical field of underwater exploration. The underwater robot comprises a body, a float and a three-axis attitude sensor arranged in the body, a power device, a float-sink device, an exploration device and a balancing device. The power device comprises a traveling driving assembly and a screw propeller. The traveling driving assembly can drive the screw propeller to rotate to push the body forward. The float-sink device comprises a water tank and a hydraulic pump. The hydraulic pump is used for adding water into the water tank or discharging water in the water tank. The exploration device comprises a transmitter and a receiver. The transmitter excites electromagnetic waves through alternating current. The receiver is used for receiving electric field data and magnetic field data. The balancing device comprises a balancing plate and a balancing driving assembly. The balancing driving assembly can drive the balancing plate to rotate to adjust the water-encountering area of the balancing plate. The underwater exploration method adopts the underwater robot based on electromagnetic exploration. The transmitter and the receiver are integrated in the body, the volume of the whole machine is reduced, and the exploration efficiency is improved.

The present disclosure provides an information interaction method, system, and apparatus, a storage medium, and an electronic device. The method includes: obtaining a type of a target environment in which a target robot currently operates, where the type of the target environment includes an underwater environment and a non-underwater environment; determining a target communication mode based on the type of the target environment, where the target communication mode is used to indicate a communication mode between the target robot and a charging station; and controlling the target robot to establish a communication connection with the charging station in the target communication mode and controlling the target robot to perform information interaction with a target terminal via the charging station.

[Problem] The present invention can more appropriately change a formation of an unmanned vehicle unit including a plurality of unmanned vehicles or a communication network configuration in the unmanned vehicle unit. [Solution] The present invention is a control system comprising: a state determination part that determines a state relating to an unmanned vehicle group having a plurality of unmanned vehicles and an activity area of the unmanned vehicle group, a state relating to an action of the unmanned vehicle group, or a state relating to an action history of the unmanned vehicle group; a formation change decision part that decides, in accordance with determination information from the state determination part, whether or not to change a formation of the unmanned vehicle group and / or the formation after the change; and a command output part that transmits / outputs a control command corresponding to the content of a decision made by the formation change decision part to the unmanned vehicle group, or that displays / outputs, from a display part, information relating to the control command.

The system comprises an equipment boat body, the equipment boat body is provided with a vertically-through water inlet and outlet pipe, a water inlet of the water inlet and outlet pipe is provided with a switch mechanism, the switch mechanism is connected to a mother ship through a mooring rope, and the switch mechanism is used for blocking or opening the water inlet pipe. A pure mechanical structure is adopted, the operation is simpler and more reliable, the operation is simple and convenient, a complex control system is not needed, the equipment cost is low, and the operation efficiency and safety are improved; the system can eliminate negative pressure generated when ocean equipment and seabed soft soil are separated through natural flowing-in and flowing-out of seawater to accelerate escape, dependence on high-energy equipment is reduced, the water inlet and outlet pipes are combined with jumping pulling force to increase the seawater flowing efficiency, then the negative pressure elimination rate is increased, and the system is not affected by the ocean depth and the seabed environment; the structure is simple, the application range is wider, the damage risk of marine equipment can be reduced, energy is saved, efficiency is high, and the manufacturing and using cost of the marine equipment is reduced.