4037results 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 disclosure provides a communication delay compensation method and a communication delay compensation system based on an autonomous robot, where the method includes the following steps: establishing a state equation based on a system model of an AUV positioning system; acquiring an included angle between a direction vector of AUV to an observation station and a velocity vector of AUV based on the system model; establishing an observation equation according to the state equation and the included angle; establishing an extended Kalman filter equation based on the system model, the included angle and the observation equation; and calculating a position information predicted value at the current time by using the extended Kalman filter equation to complete communication delay compensation.

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

The 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.

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

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

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

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

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

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

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

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

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

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

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

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

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

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.

The invention discloses an underwater operation robot. The underwater operation robot comprises a multi-direction posture self-stabilization structural frame and a rotary cleaning system; the structural frame comprises a buoyancy pipe, and a flowing medium is arranged in the buoyancy pipe; the rotary cleaning system comprises a plurality of rotary cleaning discs and a water inlet, and the water inlet communicates with external water supply equipment to supply water to the rotary cleaning discs; the rotary cleaning disc comprises a cavitation nozzle obliquely arranged relative to the rotary cleaning disc, and when the cavitation nozzle sprays liquid, the counter-acting force of the cavitation nozzle drives the rotary cleaning disc to rotate. According to the underwater operation robot, the structural frame with the multi-direction posture self-stabilizing function is adopted, the flowing medium is injected, autonomous keeping of the underwater posture of the robot is achieved, and the control difficulty is reduced. In addition, the rotary cleaning system adopts the cavitation jet technology, the cleaning effect is good, the rotary cleaning disc can spin when the cavitation nozzle sprays water, no extra energy or no driving mechanism is needed to drive the rotary cleaning disc to rotate, the structure is simple, and the reliability is high.

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.

A system and method by which energy from ocean waves is converted into hydrogen, and that hydrogen is used to manifest electrical and mechanical energies by an energy consuming device. A portion of the generated electrical power is communicated to water electrolyzers which produce oxygen and hydrogen from water as gases. At least a portion of the generated hydrogen gas is transferred to a transportation ship via a hose-carrying, remotely operated (or otherwise unmanned) vehicle, and subsequently transferred to an energy-consuming module or infrastructure, where a portion of the hydrogen is consumed in order to manifest a generation of electrical energy, a mechanical motion, and / or a chemical reaction.

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 relates to an underwater vehicle technology, in particular to an unmanned underwater vehicle. The whole unmanned underwater vehicle is designed to be in a bionic fish shape and comprises a head mechanism, a skeleton structure, a tail mechanism, an equipment box, a marching system and a shell, the head mechanism, the shell and the tail mechanism are sequentially connected, the skeleton structure is arranged in the shell and comprises a plurality of spine bodies and rib assemblies, and the rib assemblies are arranged in the shell. Silica gel is arranged between the spine bodies; the rib assembly and the spine body are in one-to-one correspondence and are connected, the rib structure comprises a bearing and two rib frames connected to the bearing, the two rib frames are connected to the bearing to generate relative rotation, the rib frames are used for supporting and arranging an equipment box, and the equipment box is used for arranging instruments and equipment; the problems that in the prior art, when an underwater vehicle advances underwater, generated resistance is large, advancing is not flexible enough, the space utilization rate is low, the impact resistance and deformation resistance are poor, and tearing and damage are prone to occurring are 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 invention discloses a multifunctional underwater vehicle. The multifunctional underwater vehicle comprises a ship body, a propeller, a rotating driver and a control device, a ship sealing cavity is formed in the ship body, a driving opening is formed in the outer side wall of the ship body, and the ship sealing cavity communicates with the driving opening; the driving openings are formed in the left side and the right side of the ship body in the advancing direction, and the driving openings in each side are arranged in pairs and distributed on the same straight line according to the front-back relation. The rotating drivers are arranged in the ship sealing cavity, and each driving opening corresponds to one rotating driver; the output end of each rotating driver horizontally extends out of the driving opening, is connected to the propeller and is used for driving the propeller to rotate by any angle; the control device is in communication connection with the rotating driver and the propeller. According to the scheme, one or more propellers are independently adjusted according to needs during underwater navigation of the underwater vehicle, so that rotation, constant-speed driving, accelerated driving, deep diving and floating are achieved during underwater navigation, and the problem that the underwater navigation function is insufficient due to the fact that the propellers of an existing underwater vehicle are single in function is solved.