Control method for diving kail ship, storage medium and electronic equipment

Abstract

The invention provides a control method of a diving kail ship, a storage medium and electronic equipment. The method comprises the following steps: acquiring an input target depth; acquiring the current depth, the pressure of each buoyancy cabin and the attitude data of the ship body; calculating a depth difference value between the target depth and the current depth; total buoyancy force needing to be adjusted is calculated according to the depth difference value, the buoyancy cabin pressure and the hull attitude data; determining specific buoyancy cabins needing to be filled with water or drained and corresponding water amounts of the specific buoyancy cabins; and controlling the water filling and draining device of the corresponding buoyancy compartment to execute buoyancy adjustment. According to the control method of the submergible Karting ship, accurate positioning, stable operation and flexible control of the Karting ship in the underwater environment are achieved by combining various sensor data and an advanced control algorithm. Meanwhile, the method aims to improve the safety, comfort and energy efficiency of underwater activities, so that the underwater entertainment exploration activities are more convenient and popularized.

Description

Technical Field

[0001] The invention relates to the field of aquatic entertainment equipment, in particular to a control method, a storage medium and an electronic device for a kart boat which can travel on the water surface and dive for underwater sightseeing. Background Art

[0002] With the development of global tourism, water entertainment projects such as go-karts are becoming more and more popular. This type of equipment is easy to operate and suitable for family and personal entertainment, but it has a single function and is limited to surface use, making it difficult to meet the diverse needs of tourists. At the same time, underwater sightseeing has also attracted attention due to its uniqueness, but traditional diving equipment is large in size, high in cost, and complex in operation, which limits the participation of ordinary tourists. Although there are simplified equipment such as semi-submersible sightseeing boats on the market, they have poor operating flexibility, limited sightseeing range, and cannot provide a personalized driving experience.

[0003] Based on the above market demand and technical gap, it is of great significance to develop a new type of kart that can both travel on the water surface and dive for underwater sightseeing. This kart not only needs to retain the speed and easy operation of traditional karts, but also should have a simple and safe diving function, so that ordinary tourists can easily realize their dreams of underwater exploration. Through this innovative kart design, tourists can experience the thrill of driving on the water and the wonderful sights of underwater sightseeing on the same device, thereby greatly enhancing the diversity and attractiveness of water entertainment projects. The Chinese patent publication numbers are CN206675966U, CN218949434U, and CN219969953U, and the patent documents of an indoor remote control kart device, a mini electric kart, and a new type of mini kart are recorded here as relevant prior art.

[0004] In summary, the existing technology cannot meet the entertainment needs of tourists both on the surface and underwater, and the complicated and expensive diving equipment is not suitable for ordinary tourists. Therefore, it is of great significance to develop a kart boat that can both travel on the surface and dive for sightseeing and a control method thereof. Summary of the invention

[0005] In view of this, the purpose of the embodiment of the present invention is to provide a submersible kart, which can realize accurate positioning, stable operation and flexible control of the kart in an underwater environment by combining multiple sensor data and advanced control algorithms. At the same time, the method aims to improve the safety, comfort and energy efficiency of underwater activities, making underwater exploration activities more convenient and popular.

[0006] To achieve the above object, the present invention provides a control method for a submersible kart, which comprises the following steps:

[0007] Get the input target depth;

[0008] Obtain current depth, pressure of each buoyancy chamber and hull attitude data;

[0009] Calculating a depth difference between the target depth and the current depth;

[0010] Calculating the total buoyancy that needs to be adjusted based on the depth difference, the buoyancy chamber pressure and the hull attitude data;

[0011] Determine the specific buoyancy tanks that need to be filled or drained and the corresponding amount of water;

[0012] Control the filling and drainage devices of the corresponding buoyancy tanks to perform buoyancy adjustment.

[0013] In a second aspect, a computer-readable storage medium is provided, on which a computer program is stored, and when the program is executed by a processor, any one of the control methods for a submersible kart as described above is implemented.

[0014] In a third aspect, an electronic device is provided, comprising:

[0015] processor;

[0016] a memory for storing instructions executable by the processor;

[0017] Wherein, the processor is configured to execute the instructions to implement any one of the control methods for the submersible kart as described above.

[0018] The above technical solution has the following beneficial effects:

[0019] By acquiring the current depth in real time and comparing it with the target depth, the system can accurately calculate the required depth adjustment, which enables the kart to accurately reach and maintain the predetermined underwater depth, improving the accuracy and safety of underwater activities.

[0020] The total buoyancy is calculated based on the depth difference, buoyancy chamber pressure and hull attitude data, making the buoyancy adjustment more accurate. This dynamic adjustment can adapt to different underwater environments and conditions, improving the adaptability and stability of the system.

[0021] The system can autonomously determine the specific buoyancy chamber that needs to be adjusted and the corresponding amount of water, realizing intelligent buoyancy control, which reduces the complexity of manual operation and improves the degree of automation of the system.

[0022] By taking into account the hull attitude data, the system can not only control the depth but also maintain the balance of the hull. This greatly improves the stability and comfort of underwater movement while also enhancing safety.

[0023] By accurately calculating the amount of buoyancy that needs to be adjusted, the system can minimize unnecessary filling and draining operations, thereby saving energy and extending underwater activities.

[0024] The ability to individually control multiple buoyancy chambers allows the system to more flexibly respond to various underwater conditions, such as varying water pressures, currents and other environmental factors.

[0025] Through real-time monitoring and adjustments, the system can quickly respond to depth changes, reducing the risks of underwater activities.

[0026] Automated depth and attitude control greatly simplifies the operation difficulty, allowing non-professionals to carry out underwater activities relatively safely. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a logical structure diagram of a submersible kart according to an embodiment of the present invention;

[0028] Figure 2 is a schematic diagram of the logical structure of a variable buoyancy system according to an embodiment of the present invention;

[0029] Figure 3 is a schematic diagram of the logical structure of the oxygen supply system according to an embodiment of the present invention;

[0030] Figure 4 It is a logical structure diagram of another submersible kart according to an embodiment of the present invention;

[0031] Figure 5 is a schematic diagram of the logical structure of an emergency self-rescue system according to an embodiment of the present invention;

[0032] Figure 6 Schematic diagram of the logical structure of the intelligent lifting control system according to an embodiment of the present invention;

[0033] Figure 7 is a schematic diagram of the logical structure of the intelligent navigation and obstacle avoidance system according to an embodiment of the present invention;

[0034] Figure 8 This is a schematic structural diagram of a submersible kart according to an embodiment of the present invention from one angle;

[0035] Fig. 9 is a structural schematic diagram of a submersible kart according to an embodiment of the present invention from another angle;

[0036] Fig.10 is a flow chart of a control method of a submersible kart according to an embodiment of the present invention;

[0037] Fig.11 is a functional block diagram of a computer-readable storage medium according to an embodiment of the present invention;

[0038] Fig.12 A functional block diagram of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] Embodiment 1

[0041] like Figure 1 As shown, an embodiment of the present invention provides a submersible kart, which includes: a hull, a passenger cabin, a variable buoyancy system, an oxygen supply system, an underwater propulsion system, and a central control system; the hull is the main structure of the submersible kart; the passenger cabin is arranged at a central position inside the hull, for accommodating passengers, and keeping a sealed state when diving; the variable buoyancy system includes a plurality of buoyancy cabins, which are arranged inside the hull and close to or adjacent to the passenger cabin, for controlling the buoyancy of the kart to achieve diving and floating; the oxygen supply system is arranged inside the hull and adjacent to the passenger cabin, for providing oxygen to the passenger cabin; the underwater propulsion system is arranged outside the hull, for providing underwater power, and realizing underwater movement of the kart; the central control system is arranged inside the hull, for controlling the operation of the variable buoyancy system, the oxygen supply system and the underwater propulsion system.

[0042] Combined with reference Figure 8 and Fig. 9 In one example, only the hull 11, the passenger cabin 12, the steering wheel and instrument panel 13, the seat 14, the underwater propulsion system 15, the buoyancy tank 16, and the transparent cover 17 of the submersible kart are depicted. The transparent cover 17 can be opened and closed to the left and right sides or to the front and back. When in the diving state, the transparent cover 17 is in a sealed state. One or more oxygen supply pipeline outlets are distributed at different positions inside the passenger cabin 12. The transparent cover 17 constitutes a part of the passenger cabin 12.

[0043] The advantages of this submersible kart design are mainly reflected in the following aspects: First, by integrating a variable buoyancy system, the kart can switch freely between the surface and underwater, greatly expanding the scope of activities and the way of playing. Secondly, the sealed passenger cabin and oxygen supply system ensure the safety of passengers in the underwater environment, allowing users to comfortably enjoy the underwater landscape. The underwater propulsion system gives the kart the ability to move flexibly underwater, enhancing exploration and fun. Finally, the setting of the central control system realizes the coordinated operation of various subsystems, improving the convenience and reliability of overall control.

[0044] The variable buoyancy system uses a multi-chamber filling and drainage system to achieve precise buoyancy adjustment. The hull is designed with multiple independently controllable buoyancy chambers, which are filled and drained by electric pumps. Each buoyancy chamber is equipped with a pressure sensor to monitor water depth and buoyancy changes in real time.

[0045] like Figure 2 As shown, in some embodiments, the variable buoyancy system includes: a plurality of independent buoyancy chambers, distributed at different positions inside the hull and surrounding the passenger cabin; a filling and drainage device, connected to each buoyancy chamber, for injecting water into or pumping water out of the buoyancy chamber to change the buoyancy of the buoyancy chamber; a first sensor assembly, for monitoring the buoyancy control parameters inside and outside the buoyancy chamber; a buoyancy adjustment controller, for controlling the filling and drainage device according to the buoyancy control parameters collected by the first sensor assembly to adjust the filling and drainage of the buoyancy chamber; a power supply module, for providing energy for the entire variable buoyancy system.

[0046] In some embodiments, the first sensor assembly includes: a pressure sensor installed in the buoyancy chamber, used to measure the water pressure changes in the buoyancy chamber in real time to control buoyancy; a depth sensor installed outside the hull, used to measure the water depth of the hull in real time; a tilt sensor installed in the center of the hull, used to monitor the posture of the hull to prevent tilting or imbalance; the pressure sensor, depth sensor and tilt sensor are all electrically connected to the buoyancy adjustment controller via a data line, and the collected data is transmitted to the buoyancy adjustment controller for processing.

[0047] In some embodiments, the buoyancy adjustment controller includes: a processing module, including a processor and a memory, the memory storing a buoyancy control algorithm, the processor being used to execute the buoyancy control algorithm, process buoyancy control parameters, and manage the operation of the variable buoyancy system; a human-computer interaction module, including a display device and an input device for receiving user instructions, for switching between a manual control mode and an automatic control mode according to a switching instruction input by the user, wherein the automatic control mode uses a buoyancy control algorithm.

[0048] In some embodiments, the buoyancy regulation controller also includes the following functional modules, which are stored in the memory as software modules and executed by the processor: an emergency drainage module, used to empty all buoyancy chambers by controlling the filling and drainage devices in an emergency situation; a fault adaptation module, used to automatically adjust to maintain balance by controlling the filling and drainage of other buoyancy chambers when a single buoyancy chamber fails; a low power mode operation module, used to reduce energy consumption by reducing the power output of non-critical equipment when the hull is stable at the target depth.

[0049] The oxygen supply system combines electrolysis of seawater to produce oxygen and compressed air storage to provide long-term stable oxygen supply. Through the electrolyzer, the system can directly extract oxygen from seawater to achieve continuous oxygen supply. At the same time, the system is equipped with an intelligent oxygen management function that can automatically adjust the oxygen concentration in the cabin according to the number of passengers and their activity status, ensuring that passengers can get enough oxygen in different situations. In addition, the system also uses renewable chemical absorbents to effectively remove exhaled carbon dioxide in the cabin, keeping the air in the cabin fresh and safe, thereby providing passengers with a comfortable underwater environment.

[0050] like Figure 3 As shown, in some embodiments, the oxygen supply system includes at least one of the following: a seawater electrolysis oxygen production system for producing oxygen from seawater and supplying it to an oxygen storage tank; an intelligent oxygen management system for adjusting the oxygen concentration in the passenger cabin according to the number of passengers, passenger activity status and environmental parameters in the passenger cabin; and a carbon dioxide absorption system for removing carbon dioxide in the passenger cabin by chemical absorption.

[0051] In some embodiments, a seawater electrolysis oxygen production system includes: an electrolytic cell, which is used to electrolyze seawater to produce oxygen, adopts a titanium alloy electrode and is coated with a platinum group metal oxide coating, and is designed as a multi-layer plate structure; a seawater pump, which is used to transport seawater to the electrolytic cell; a filtration system, which is arranged between the seawater pump and the electrolytic cell, and is used to remove impurities and microorganisms in the seawater to obtain pure seawater suitable for electrolysis; a gas-liquid separator, which is arranged downstream of the electrolytic cell and adopts a cyclone separator structure to separate the oxygen and liquid produced by electrolysis; an oxygen storage tank, which is connected to the gas-liquid separator and is used to store the separated oxygen; wherein the electrolytic cell is installed at the bottom of the hull near the seawater inlet, the seawater pump is installed next to the electrolytic cell, the gas-liquid separator is arranged above the electrolytic cell, and the oxygen storage tank is located in the middle of the hull near the passenger cabin.

[0052] In some embodiments, the intelligent oxygen management system includes: an oxygen sensor for real-time monitoring of the oxygen concentration in the passenger compartment; a carbon dioxide sensor for monitoring the carbon dioxide concentration in the passenger compartment, the oxygen sensor and the carbon dioxide sensor are distributed throughout the passenger compartment; a number detection system, including an infrared counter arranged at the entrance of the passenger compartment for counting the number of passengers and a weight sensor arranged in the passenger compartment for detecting the total weight of the passengers; an activity monitoring camera, arranged at the top of the passenger compartment, for monitoring the activity status of the passengers; an oxygen demand analysis processor, for processing monitoring data from the oxygen sensor, the carbon dioxide sensor, the weight sensor, the infrared counter and the activity monitoring camera, and analyzing the monitoring data according to a preset algorithm to obtain the oxygen demand; an oxygen regulating valve, connected to the oxygen storage tank and the passenger compartment, for adjusting the oxygen input according to the oxygen demand calculated by the oxygen demand analysis processor.

[0053] In an alternative embodiment, the oxygen demand analysis processor may be omitted, with the functions of the oxygen demand analysis processor being performed instead by a central control system.

[0054] The preset oxygen demand calculation algorithm includes the following steps: determining the number of passengers based on the infrared counter data; estimating the average weight of the passengers using the weight sensor data; judging the activity intensity of the passengers based on the data of the activity monitoring camera, and dividing it into three levels: low, medium and high; querying the pre-established oxygen consumption rate table based on the number of passengers, average weight and activity intensity level to obtain the basic oxygen demand; calculating the current cabin air quality index using the data of the oxygen sensor and the carbon dioxide sensor; and correcting the basic oxygen demand based on the air quality index to obtain the corrected oxygen demand.

[0055] In some embodiments, the carbon dioxide absorption system includes: a chemical absorbent bed for absorbing carbon dioxide, in which an alkaline absorbent is arranged and a multi-layer honeycomb structure is adopted; a fan system includes a centrifugal fan arranged before and after the chemical absorbent bed to promote air circulation.

[0056] The underwater propulsion system uses silent electric propulsion and variable vector jet. Specifically, the underwater propulsion system uses a packaged permanent magnet synchronous motor to drive multiple independently controllable water jet thrusters. Flexible underwater maneuvers can be achieved by adjusting the direction and power of each thruster.

[0057] The beneficial effects of the embodiments of the present invention are:

[0058] It realizes seamless switching between surface driving and underwater sightseeing, providing users with a diverse entertainment experience. Through multiple protection mechanisms, the safety of passengers during underwater activities is guaranteed. At the same time, the system can provide long-term stable oxygen supply to ensure the continuity of underwater activities. In addition, the kart has excellent underwater maneuverability, allowing passengers to freely explore the underwater environment and enjoy a high-quality sightseeing experience. The intelligent operation design greatly reduces the threshold for use, allowing ordinary tourists to easily get started and enjoy the dual fun of water and underwater.

[0059] Embodiment 2

[0060] like Figure 4 As shown, in some embodiments, the submersible kart also includes an emergency self-rescue system, which is connected to the variable buoyancy system and is used to make the kart float in an emergency; the emergency situation includes the water pressure exceeding a preset proportional value of the normal working depth pressure, such as 120%, the hull tilt angle exceeding a preset degree, such as 45 degrees, manual activation or failure of the central control system.

[0061] The emergency self-rescue system uses multiple fault protection mechanisms to ensure the safety of passengers. The emergency self-rescue system specifically includes: an automatically inflated lifeboat, which is used in an emergency to automatically inflate and separate from the main body to bring passengers back to the surface safely. A mechanical emergency buoyancy device, which uses a compressed air tank and a mechanical release mechanism to quickly float even in the event of a power failure. An acoustic positioning beacon, which is used to automatically activate an underwater acoustic beacon to facilitate rapid positioning by rescuers.

[0062] like Figure 5 As shown, in some embodiments, the emergency self-rescue system specifically includes: an automatically inflatable lifeboat, which is arranged on the top of the kart and fits closely with the outer contour of the kart; a mechanical emergency buoyancy device, which is arranged around the internal buoyancy chamber of the kart; and an acoustic positioning beacon, which is arranged at the highest point on the top of the kart and is not blocked by any hull components, and is used to transmit acoustic signals that conform to the internationally accepted underwater emergency distress signal frequency and mode; a central control system, which is electrically connected to the automatically inflatable lifeboat, the mechanical emergency buoyancy device and the acoustic positioning beacon, and is used to synchronously trigger the inflation and separation of the automatically inflatable lifeboat, the drainage and buoyancy of the mechanical emergency buoyancy device, and the emission of the acoustic positioning beacon when an emergency is detected.

[0063] In some embodiments, the automatic inflatable lifeboat includes: a foldable lifeboat body; a high-pressure gas cylinder connected to the lifeboat body, the high-pressure gas cylinder is filled with compressed gas and is used to quickly inflate and unfold the lifeboat body in an emergency, and the high-pressure gas cylinder is controlled by a central control system; an electromagnetic quick release device for connecting the lifeboat to a go-kart, the electromagnetic quick release device is used to separate the automatic inflatable lifeboat from the go-kart after the automatic inflatable lifeboat is inflated; and a control panel arranged in the automatic inflatable lifeboat, which is used to control the basic functions of the automatic inflatable lifeboat in an emergency; a GPS beacon and a flash light, which are used to be automatically activated after the automatic inflatable lifeboat surfaces, wherein the GPS beacon continuously sends location information and the flash light flashes intermittently to improve visibility; an independent power supply arranged in the automatic inflatable lifeboat, which is used to provide power to the electromagnetic quick release device, the control panel, the GPS beacon and the flash light of the automatic inflatable lifeboat when the main power supply system fails.

[0064] In some embodiments, the mechanical emergency flotation device includes: a high-pressure steel compressed air tank fixed at the bottom center of the kart; a mechanical release valve connected to the compressed air tank through a high-pressure pipeline, which is used to control the release of compressed air, and the mechanical release valve remains closed when not activated and opens when activated; a quick drainage pipeline system, including: a main pipeline connected to the mechanical release valve; branch pipelines extending from the main pipeline to each buoyancy chamber; a one-way valve arranged on each branch pipeline to prevent water backflow; a drain port located in each buoyancy chamber, whose diameter is larger than the diameter of the connected branch pipeline; a manual operating lever extending from the mechanical release valve to the cockpit, which is used to manually trigger the mechanical release valve in an emergency, wherein the cockpit is part of the passenger cabin and is located at the front end of the passenger cabin; a water pressure sensor, which is arranged on the outer shell of the kart, for detecting the surrounding water pressure; and a trigger control unit, which is electrically connected to the water pressure sensor and the mechanical release valve, for automatically triggering the mechanical release valve when the water pressure sensor detects abnormal water pressure.

[0065] In some embodiments, the submersible kart further comprises a manual activation device disposed in the cockpit for manually triggering the entire emergency self-rescue system, including an automatically inflatable lifeboat, a mechanical emergency buoyancy device and an acoustic positioning beacon.

[0066] In some embodiments, the acoustic positioning beacon includes: an omnidirectional acoustic transmitter for transmitting acoustic signals within a 360-degree range underwater and above water; a battery for providing a continuous power supply to the omnidirectional acoustic transmitter; a waterproof housing for accommodating the omnidirectional acoustic transmitter and the battery; and a waterproof interface for connecting to an external diagnostic device, the waterproof interface being disposed on the outside of the waterproof housing and being sealed and connected to the waterproof housing.

[0067] Embodiment 3

[0068] like Figure 4 As shown, in some embodiments, the submersible kart further includes an intelligent lifting control system, which is connected to the variable buoyancy system to control the depth and attitude of the kart. The intelligent lifting control system can use artificial intelligence algorithms to achieve automatic lifting control. Specifically, the intelligent lifting control system integrates a depth sensor, an attitude sensor, and a GPS, and combines a machine learning algorithm to achieve precise vertical motion control and horizontal positioning.

[0069] like Figure 6As shown, in some embodiments, the intelligent lifting control system includes: a second sensor component, used to collect status data of the hull; a first control processor, electrically connected to the second sensor component, used to process the status data and generate control instructions; an actuator, electrically connected to the first control processor, used to adjust the posture and position of the hull according to the control instructions; a power supply device, used to provide power to the intelligent lifting control system; a communication device, electrically connected to the first control processor, used to realize underwater data transmission and receive control instructions.

[0070] In some embodiments, the second sensor assembly includes: a depth sensor arranged on the bottom shell of the hull, including a main depth sensor and a backup depth sensor, for real-time monitoring of the water depth; an attitude sensor arranged at the center position of the hull, including an accelerometer, a gyroscope and a magnetometer, for detecting the attitude and motion state of the hull; and an underwater GPS receiver arranged on the top of the hull, for providing position data of the hull.

[0071] In some embodiments, the first control processor is arranged in an independent waterproof cabin in the middle of the hull, and the independent waterproof cabin is isolated from the cockpit and the passenger cabin; the first control processor is used to use a Kalman filter algorithm to fuse multi-source data from the second sensor component to generate position and attitude information of the hull; the first control processor is also used to generate an optimized control strategy based on a machine learning algorithm, and the control strategy is used to guide the actuator to adjust the attitude and position of the hull, and the machine learning algorithm includes reinforcement learning; the first control processor is also used to use a PID control algorithm to process real-time feedback data obtained from the second sensor component, and to adjust control parameters in real time, and the control parameters include the power of the propeller, the rotation direction of the propeller, and the buoyancy adjustment amount.

[0072] In some embodiments, the actuator includes: vertical attitude adjustment thrusters, which are arranged at the four corners of the hull, each thruster can rotate 360 ​​degrees, and is used to adjust the vertical attitude and depth of the hull; a buoyancy adjustment device, which is connected to the variable buoyancy system and is used to adjust the buoyancy of the hull; wherein the vertical attitude adjustment thrusters work in coordination with the underwater propulsion system, and are jointly controlled by the first control processor and the central control system to achieve all-round motion control of the hull.

[0073] In some embodiments, the power supply device includes a battery pack distributed on the bottom of the hull, the battery pack is connected to the first control processor through a main power line, and powers the second sensor component, the actuator and the communication device through a branch line; the communication device includes an underwater acoustic communication device arranged on the top and the bottom of the hull.

[0074] Embodiment 4

[0075] like Figure 4As shown, in some embodiments, the submersible kart also includes an intelligent navigation and obstacle avoidance system, which is connected to the underwater propulsion system and is used to combine sonar and computer vision technology to achieve autonomous navigation and obstacle avoidance.

[0076] like Figure 7 As shown, in some embodiments, the intelligent navigation and obstacle avoidance system includes: a multi-beam sonar device, which is arranged on the outer shell of the kart, and is used to scan the surrounding environment 360 degrees and obtain underwater environmental data; an underwater camera array, which is arranged around the passenger cabin of the kart, and is used to capture underwater images, identify and track underwater targets; an edge computing unit, which is electrically connected to the multi-beam sonar device and the underwater camera array, and is used to process underwater environmental data and underwater images, and generate obstacle location and type information; an inertial measurement unit, which is arranged at the center of gravity of the kart, and is used to provide the attitude and motion data of the kart; a depth sensor, which is arranged at the bottom of the kart, and is used to obtain water depth data; a positioning receiver, which is arranged on the top of the kart, and is used to provide the position data of the kart; and a second control processor, which is electrically connected to the edge computing unit, and is used to perform navigation and obstacle avoidance decisions based on the obstacle location and type information, the attitude and motion data of the kart, the water depth data, and the position data of the kart.

[0077] In some embodiments, the multi-beam sonar device includes four high-frequency units, which are installed on the front, rear, left and right sides of the kart, with a frequency range of 400-700kHz; the underwater camera array includes 6-8 cameras, each camera has 4K resolution and a field of view of 120 degrees; the positioning receiver is a GPS / GLONASS dual-mode receiver, or a Beidou and Galileo dual-mode receiver.

[0078] In some embodiments, the edge computing unit is configured to: use a Kalman filter algorithm to fuse data from a multi-beam sonar device, an underwater camera array, an inertial measurement unit, a depth sensor, and a positioning receiver to obtain fused data; generate a three-dimensional environment model and hull position and posture information based on the fused data; use a simultaneous localization and mapping algorithm (SLAM) to build and update a three-dimensional map of the surrounding environment in real time; wherein the three-dimensional environment model, hull position and posture information, and the three-dimensional map are used by the second control processor for path planning and obstacle avoidance decisions.

[0079] In some embodiments, the second control processor is configured to: use a fast random exploration tree (RRT) algorithm in combination with a decision model for path planning to generate a planned path, wherein the decision model is used to guide the sampling strategy and path evaluation of the RRT algorithm; based on a prediction algorithm, use a three-dimensional environment model, hull position and posture information, and a three-dimensional map as input to estimate the trajectory of the moving object and perform obstacle avoidance operations; convert the planned path generated by the RRT algorithm in combination with the decision model into motion instructions, and control the movement of the kart according to the motion instructions; obtain navigation data and obstacle avoidance data from the operation process of the edge computing unit and the second control processor, the navigation data including the actual navigation trajectory, speed, and direction, and the obstacle avoidance data including the detected obstacle information and the performed obstacle avoidance operations; analyze the navigation data and obstacle avoidance data as historical data through a machine learning algorithm, and optimize the decision model used for path planning and obstacle avoidance operations, wherein the decision model is used to provide optimized parameters and strategies in path planning and obstacle avoidance operations; set a multi-level safety threshold, and automatically perform emergency avoidance actions when it is detected that the obstacle distance is less than a preset safety distance threshold.

[0080] In some embodiments, the submersible kart also includes: a main power supply system, disposed inside the hull, for providing power to a variable buoyancy system, an oxygen supply system, an underwater propulsion system and a central control system; wherein the main power supply system includes a battery pack and a power management unit, and the power management unit is used to monitor and adjust the power consumption of each system.

[0081] Embodiment 5

[0082] This embodiment describes in detail the structure and working principle of the variable buoyancy system. Figure 2 As shown, the structure of the variable buoyancy system is as follows:

[0083] Regarding the buoyancy tanks, the variable buoyancy system uses a design of multiple independent buoyancy tanks, which can be 6-8, and these buoyancy tanks are distributed in different positions of the hull to achieve balance control. Each buoyancy tank is made of high-strength, corrosion-resistant composite materials, such as carbon fiber reinforced epoxy resin, to ensure excellent durability and reliability in harsh underwater environments. In order to reduce resistance during underwater operation, the buoyancy tank is designed to be streamlined, which further improves the maneuverability and operating efficiency of the hull.

[0084] Regarding the charging and drainage device, each buoyancy chamber is equipped with a high-efficiency micro-electric water pump, which is driven by a brushless DC motor and adopts a waterproof and sealed design to ensure safety and stability when operating underwater. The water inlet and outlet of the buoyancy chamber are equipped with electronically controlled valves, which can accurately control the charging and drainage of water flow to achieve delicate adjustment of buoyancy. This charging and drainage system allows the buoyancy chamber to be flexibly adjusted, helping the hull to switch freely between the surface and underwater environments. When the charging and drainage device fills water into the buoyancy chamber, this will increase the weight of the buoyancy chamber, reduce the overall buoyancy, and cause the kart to sink. When the charging and drainage device pumps water from the buoyancy chamber, this will reduce the weight of the buoyancy chamber, increase the overall buoyancy, and cause the kart to float. Through these two actions, the charging and drainage device can change the buoyancy of the buoyancy chamber, thereby achieving the adjustment of the overall buoyancy of the kart.

[0085] Regarding the sensor system, i.e. the first sensor assembly, a high-precision pressure sensor is installed in the buoyancy chamber to measure the water pressure changes in the chamber in real time, so as to accurately control the buoyancy. A depth sensor is installed outside the hull to measure the water depth of the hull in real time to ensure stability at different depths. At the same time, a tilt sensor is installed in the center of the hull to monitor the posture of the hull and prevent tilting or imbalance. These sensor systems work together to provide comprehensive environmental data support to ensure the stability and safety of the kart hull in the water.

[0086] Regarding the buoyancy control controller, it uses an industrial-grade embedded computer and integrates a buoyancy control algorithm, which can adjust the status of each buoyancy chamber in real time according to the data fed back by the sensor. The system has a human-computer interaction interface, allowing operators to switch between manual control mode and automatic control mode, providing a high degree of flexibility and operability. Whether it is automatically adjusting buoyancy to adapt to the underwater environment or manually intervening to achieve personalized control, the control system can provide a precise and efficient operating experience.

[0087] Regarding the power system, the power system uses a high-energy-density lithium-ion battery pack to provide sufficient and lasting energy support for the entire variable buoyancy system. The system is equipped with an intelligent power management system that can optimize energy distribution according to real-time energy consumption to ensure stable power supply during long-term underwater activities. The intelligent management system not only extends the battery life, but also improves energy utilization efficiency, ensuring reliable operation of the hull under various environmental conditions.

[0088] The buoyancy control algorithm includes the following steps: receiving a target depth input; obtaining the current depth, buoyancy chamber pressure and hull attitude data; calculating the depth difference between the target depth and the current depth; calculating the total buoyancy amount that needs to be adjusted based on the depth difference, combined with the buoyancy chamber pressure and hull attitude data; determining the specific buoyancy chambers that need to be filled or drained and the corresponding water volume based on the total buoyancy amount and hull attitude data; controlling the filling and draining devices of the corresponding buoyancy chambers to perform buoyancy adjustment; real-time monitoring of depth changes and hull attitude; if the depth is close to the target value, reducing the buoyancy adjustment amplitude; when the target depth is reached, It enters fine adjustment mode, that is, maintains depth stability through small-amplitude, high-frequency buoyancy fine-tuning; continuously monitors environmental parameters, such as water temperature, salinity, etc., and recalculates the required buoyancy according to the influence of these parameters on water density; regularly checks the status of each buoyancy chamber to ensure the overall balance of the variable buoyancy system; if an abnormal situation is detected, such as a single buoyancy chamber failure, automatically adjusts the filling and drainage of other normal chambers to maintain balance; throughout the process, continuously updates and optimizes control parameters, including filling and drainage rate, buoyancy adjustment threshold and PID controller parameters, to improve system response speed and stability.

[0089] The variable buoyancy system works as follows:

[0090] When the variable buoyancy system is activated, the buoyancy control controller first reads data from various sensors to determine the current buoyancy status and water depth. Sensors include pressure sensors, depth sensors, and tilt sensors, which together provide accurate environmental and hull information. This step ensures that the system can accurately calculate and control buoyancy in subsequent operations to achieve stable diving, balancing, and floating processes.

[0091] When the operator or system issues a dive command, the buoyancy control controller calculates the amount of air to be exhausted based on the preset target depth. Then, the electronically controlled valve opens, the water pump starts, and the water is pumped into the designated buoyancy chamber. During the entire process, the pressure sensor monitors the water pressure changes in each chamber in real time and feeds the data back to the buoyancy control controller. The buoyancy control controller accurately controls the amount of water filled in each buoyancy chamber based on these feedbacks. At the same time, the depth sensor monitors the diving speed and current depth of the hull. When the hull reaches the target depth, the water pump stops running, the valve closes, and the dive operation is completed.

[0092] At the target depth, the system continuously monitors the pressure of each buoyancy compartment and the attitude of the hull. If the system detects a slight change in buoyancy or attitude deviation, the buoyancy adjustment controller will automatically fine-tune the water volume in each compartment. By adjusting the water volume in different compartments, the pitch and roll of the hull can be finely controlled to maintain the stable attitude and position of the hull underwater. This stage of balance control ensures the stability and safety of the hull in the underwater environment.

[0093] When receiving the command to float, the buoyancy control controller calculates the amount of water that needs to be discharged. The water pump runs in reverse to discharge water from the buoyancy chamber, gradually increasing the buoyancy of the hull. The system continuously monitors the floating speed of the hull during the floating process, and adjusts the drainage rate to ensure a smooth floating process. When approaching the water surface, the system automatically slows down the floating speed to prevent the hull from suddenly emerging from the water, ensuring the safety and comfort of passengers.

[0094] The system is designed with an emergency drainage mode, which can quickly drain the water from all buoyancy compartments in an emergency to achieve rapid buoyancy. If a single buoyancy compartment is detected to have a fault, the system will automatically adjust the water volume in other compartments to maintain the balance and safety of the hull. In addition, the emergency handling mechanism can respond in the shortest time to ensure the safety of passengers in emergencies.

[0095] The system is equipped with advanced machine learning algorithms that optimize filling and drainage strategies through the continuous accumulation of operational data. The algorithm takes into account multiple factors, such as water temperature, salinity, passenger weight distribution, etc., to achieve more precise buoyancy control. As time goes by, the system will become more intelligent, providing a more stable and efficient operating experience, and improving overall safety and comfort.

[0096] When the hull is stable at the target depth, the system enters low-power mode to reduce unnecessary energy consumption and only makes minor adjustments to buoyancy and attitude. During the ascent, the system uses the potential energy generated by buoyancy to reduce the workload of the water pump, thereby further improving energy efficiency. Through this energy management strategy, the system can maximize battery life while maintaining performance, ensuring long-term underwater operation capabilities.

[0097] This multi-chamber variable buoyancy system achieves precise lifting and attitude control of the kart by precisely controlling the water volume of multiple independent buoyancy chambers, while ensuring a high degree of safety and control accuracy.

[0098] Embodiment 6

[0099] like Figure 3 As shown, the oxygen supply system is described in detail below, which includes: at least one of a seawater electrolysis oxygen production system, an intelligent oxygen management system and a carbon dioxide absorption system.

[0100] The seawater electrolysis oxygen production system consists of several key components. The first is the electrolyzer, which uses titanium alloy electrodes and is coated with platinum group metal oxides to improve electrolysis efficiency. The electrolyzer is designed as a multi-layer plate structure to increase the electrolysis area and is installed at the bottom of the hull, close to the seawater inlet, so as to directly obtain seawater. The seawater pump is a high-efficiency centrifugal pump, which is installed close to the electrolyzer to ensure that seawater can be quickly and stably transported to the electrolyzer. In order to ensure the purity of the seawater entering the electrolyzer, the system sets up a filtration system between the seawater pump and the electrolyzer, which consists of a primary mechanical filter and a fine membrane filter to remove impurities and microorganisms in the seawater. A gas-liquid separator is installed above the electrolyzer, which adopts a cyclone separator structure to separate the gas and liquid generated by electrolysis. The generated oxygen is stored in an oxygen storage tank located in the middle of the hull, close to the passenger cabin. The storage tank is made of lightweight and high-strength composite materials to ensure the safe storage of oxygen.

[0101] In the seawater electrolysis oxygen production system, each component is connected through reasonable pipelines and circuits to form a complete workflow. The seawater pump first draws in seawater and transports it to the filtration system through pipelines. After being processed by the primary mechanical filter and the fine membrane filter, the seawater is transported to the electrolyzer for electrolysis. The gas-liquid mixture produced by electrolysis then enters the gas-liquid separator through a pipeline, and the separated oxygen is transported to the oxygen storage tank through a pipeline for compression and storage. The electrolyzer is directly connected to the power supply system to obtain the required power support. At the same time, the entire system is connected to the central control system through a data cable to achieve automatic control and real-time monitoring.

[0102] The workflow of the seawater electrolysis oxygen production system starts with the seawater pump, which draws seawater from the outside and passes it through the filtration system to remove impurities and microorganisms. The purified seawater enters the electrolyzer, and when powered, the water molecules are decomposed into oxygen and hydrogen through the action of the titanium alloy electrodes. The oxygen produced by electrolysis and other gas mixtures enter the gas-liquid separator, and the cyclone separator structure effectively separates the oxygen from the liquid. The separated pure oxygen is then compressed and stored in the oxygen storage tank for use in the cabin. The hydrogen as a by-product is collected and used in fuel cells to provide energy, or is safely discharged overboard. The entire process is monitored and adjusted by a central control system to ensure that the system can operate efficiently and stably under different working conditions.

[0103] The intelligent oxygen management system is described in detail below, which includes: an oxygen sensor, a carbon dioxide sensor, a person detection system, an activity monitoring camera, an oxygen demand analysis processor and an oxygen regulating valve.

[0104] The intelligent oxygen management system consists of several key components, which are arranged in the passenger compartment and the control room respectively. The oxygen sensor uses an optical oxygen sensor, which is distributed in various locations in the passenger compartment to ensure all-round monitoring of the oxygen concentration in the cabin. The carbon dioxide sensor uses an infrared CO2 sensor, which is arranged adjacent to the oxygen sensor to detect the carbon dioxide level in the cabin in real time. The number detection system consists of a weight sensor and an infrared counter, which are installed at the entrance of the passenger compartment and under the seats to accurately count the number of people in the cabin. Activity monitoring cameras are installed on the top of the cabin. These low-light smart cameras can monitor the activity status of passengers under various light conditions. The oxygen demand analysis processor is an embedded AI processor located in the control room, which is responsible for processing the data collected by sensors and cameras. The oxygen regulating valve is a precision electric valve that connects the oxygen storage tank and the passenger compartment and is responsible for adjusting the input amount of oxygen according to demand.

[0105] The various components of the intelligent oxygen management system are connected to the central processing unit via data cables to form a complete monitoring and control network. Real-time data from oxygen sensors, carbon dioxide sensors, occupancy detection systems, and activity monitoring cameras are transmitted to the oxygen demand analysis processor, which is analyzed and processed by the embedded AI processor. Based on the analysis results, the central processing unit controls the opening and closing degree of the oxygen regulating valve to accurately adjust the flow of oxygen from the storage tank into the passenger cabin. At the same time, the system maintains data exchange with the main ship control system to ensure that oxygen management works in coordination with other hull systems to improve the overall comfort and safety of passengers.

[0106] The work of the intelligent oxygen management system starts with data collection. Various sensors continuously monitor the oxygen concentration, carbon dioxide concentration, number of passengers and activity status in the passenger compartment. This data is analyzed in real time by the algorithm of the oxygen demand analysis processor to predict the oxygen demand of passengers. Based on the analysis results, the system calculates the optimal oxygen concentration, taking into account the current number of people, activity and environmental parameters, and then accurately adjusts the oxygen input in the cabin by controlling the oxygen regulating valve. The system continuously monitors the effect of the adjustment and makes real-time fine-tuning through the feedback mechanism to ensure that the oxygen concentration is always maintained at the optimal level. If the system detects an abnormal situation, such as a sudden increase in oxygen consumption, the system will respond quickly, automatically adjust the oxygen supply and issue an alarm signal to alert the operator to possible emergencies.

[0107] The CO2 absorption system consists of several key components to ensure efficient removal of CO2 from the cabin air. The chemical absorbent bed is the core part of the system. It uses a modified alkaline absorbent (such as improved soda lime) and is designed as a multi-layer honeycomb structure to increase the contact area with the air, thereby improving the CO2 absorption efficiency. The absorbent bed is integrated into the air circulation system to ensure that the cabin air can fully contact with the absorbent. In order to promote air flow, the system is equipped with a low-noise centrifugal fan installed in front and behind the absorbent bed to ensure that the air can pass through the absorbent bed smoothly. The humidity control unit consists of a dehumidifier and a humidifier, located at the air inlet, to adjust the humidity of the air to achieve the best absorption conditions. In addition, the system is also equipped with a regeneration system, including a heating and vacuum desorption device, installed next to the absorbent bed to restore the activity of the absorbent. In order to monitor the CO2 absorption effect in real time, the system is equipped with high-precision infrared CO2 sensors in front and behind the absorbent bed. The chemical absorbent bed can be a compact cylindrical structure to fit the space requirements of a 1-2 seater small kart. Specific parameters include: diameter of about 20cm, height of about 25cm, and capacity of 7.85L. This capacity can support 1-2 people in an underwater environment for 2-3 hours. The absorbent bed maintains a multi-layer honeycomb structure design, but each layer is about 1.5cm thick, with a total of 16 layers. The weight of the entire absorbent bed is about 5kg (including the absorbent).

[0108] The components of the carbon dioxide absorption system form a complete workflow through reasonable airflow channels and electrical connections. The fan system first draws air into the cabin, adjusts the humidity of the air through the humidity control unit, and then the air flows through the chemical absorbent bed, where CO2 is absorbed. The treated clean air returns to the cabin through the pipeline to ensure the air quality in the cabin. The CO2 monitor is connected to the central control system and transmits CO2 concentration data in real time for the central system to make judgments and controls. When the absorption efficiency of the chemical absorbent decreases, the regeneration system can be connected to the absorbent bed through a switching device to regenerate it. The system design allows automatic switching between multiple absorbent beds to ensure continuous CO2 absorption capacity.

[0109] The operation of the CO2 absorption system begins with a blower system that continuously draws air from the cabin into the absorption system. Once in the system, the air is first conditioned by a humidity control unit to achieve optimal CO2 absorption conditions. The conditioned air flows through the chemical absorbent bed, where CO2 is absorbed when it comes into contact with the modified alkaline absorbent, thereby cleaning the air. The CO2 monitor within the system continuously monitors the CO2 concentration at the inlet and outlet of the absorbent bed to ensure the efficiency and effectiveness of the absorption process. When the monitor detects a drop in absorption efficiency, the system automatically switches to a spare absorbent bed and simultaneously activates a regeneration system to heat and vacuum desorb the used absorbent bed to restore its absorption capacity. The entire process is managed by a central control system that ensures that the CO2 concentration is maintained at a safe level and that the absorption system operates continuously through an automatic switching mechanism.

[0110] The overall working process of the intelligent oxygen management system is as follows:

[0111] At system startup, all subsystems of the intelligent oxygen management system perform a comprehensive self-check to ensure that each component is functioning properly. The processor collects initial data, including the number of passengers currently in the cabin, initial oxygen concentration, and carbon dioxide concentration. These initial data will serve as a baseline for subsequent operation and dynamic adjustment of the system.

[0112] During normal operation, the seawater electrolysis system continuously produces oxygen and replenishes it to the oxygen storage tank. The intelligent oxygen management system adjusts the oxygen concentration in the cabin based on real-time monitoring data to ensure that passengers are always in a comfortable and safe environment. At the same time, the carbon dioxide absorption system continuously operates to clean the circulating air and keep the carbon dioxide concentration in the cabin within a safe range.

[0113] The system can adjust the oxygen supply in real time according to the activity status and number of passengers. For example, when passengers are engaged in high-oxygen activities, such as exciting underwater sightseeing, the system will automatically increase the oxygen supply to meet demand. At night or when passengers are resting, the system will automatically reduce the oxygen supply to save energy while ensuring passenger comfort.

[0114] If the system detects an abnormal drop in oxygen concentration, the intelligent oxygen management system will immediately increase the oxygen supply and send out an alarm signal to alert the operator. At the same time, if the carbon dioxide concentration increases, the system will increase the working intensity of the carbon dioxide absorption system and start the spare absorption bed if necessary to quickly restore the balance of the air in the cabin and ensure the safety of passengers.

[0115] The intelligent oxygen management system works in coordination with the ship's main power system. When energy is sufficient, the system gives priority to electrolytic oxygen production technology to maintain a stable oxygen supply. When energy is tight, the system will reduce the workload of electrolytic oxygen production and increase the use of stored oxygen to extend the system's operating time and ensure the continuity of oxygen supply.

[0116] In order to ensure the long-term working ability of the system, the system automatically regenerates the absorbent to restore the absorption capacity of the carbon dioxide absorbent. In addition, the system also regularly performs automated maintenance checks to detect potential failure risks and issue early warnings before problems occur, ensuring the reliability and safety of the system.

[0117] The intelligent oxygen management system continuously records data during operation, which will be used for subsequent system optimization and fault analysis. By using machine learning algorithms, the system can continuously improve its performance and efficiency, enhance the accuracy and response speed of oxygen management, and ensure the best air quality management under various operating conditions.

[0118] This oxygen supply system provides a safe, comfortable and long-lasting breathing environment for submersible karts by combining seawater electrolysis, intelligent oxygen management and efficient carbon dioxide absorption. The intelligent and adaptive characteristics of the system enable it to cope with various situations, while a high degree of automation and regeneration capabilities ensure that long-term underwater activities are possible. This system not only improves the safety and comfort of passengers, but also greatly extends the underwater working time of the karts.

[0119] Embodiment 7

[0120] like Figure 5 As shown, the emergency self-rescue system is described in detail below, which includes: one or more of a self-inflating lifeboat, a mechanical emergency buoyancy device, and an acoustic positioning beacon.

[0121] The self-inflating life capsule is integrated into the top of the kart and is usually folded to fit the contours of the hull without affecting the overall appearance and operation. The life capsule is made of high-strength, lightweight tear-resistant nylon cloth to ensure that it can be quickly deployed and provide adequate protection in an emergency. The life capsule's inflation device consists of a high-pressure carbon dioxide cylinder fixed to the bottom of the life capsule so that it can be quickly inflated when triggered. In addition, the life capsule is connected to the main hull through an electromagnetic quick release device, which can quickly detach the life capsule after inflation is completed, ensuring that passengers are fully protected in an emergency.

[0122] The lifeboat is connected to the main hull through a quick release device, and the inflation device is electrically connected to the central control system to receive the trigger signal. In addition, the lifeboat has a built-in independent power supply and a simple control panel, which ensures that the lifeboat can operate independently in an emergency while maintaining communication with the main system to ensure the coordination and timeliness of various operations.

[0123] The working principle of the automatic inflatable lifeboat is as follows: when a trigger condition occurs, such as abnormal water pressure, excessive tilt, manual activation or failure of the main system, the control system will send a signal to start the lifeboat's inflation device, and quickly fill it with high-pressure carbon dioxide to expand the lifeboat. After inflation is completed, the electromagnetic release device is activated, the lifeboat is separated from the main hull, and rises to the surface of the water rapidly due to buoyancy. Once the lifeboat floats to the surface, it will automatically activate the built-in GPS beacon and flashlight for positioning and rescue. This series of automated operations ensures that in various emergency situations, the lifeboat can quickly and safely protect passengers and guide rescue operations.

[0124] The mechanical emergency flotation device consists of several key components, the core of which is a high-pressure steel compressed air tank with sufficient capacity to empty all buoyancy chambers in an emergency. The compressed air tank is fixed in the center of the bottom of the hull to ensure a stable center of gravity. The compressed air tank is connected to the mechanical release valve through a high-pressure pipe. The mechanical release valve is spring-loaded and can be operated without electricity. In addition, quick-drain pipes are connected to each buoyancy chamber, and the pipes are designed to be large-diameter to ensure that the water in the chamber can be quickly discharged in an emergency.

[0125] The compressed air tank is connected to the mechanical release valve through a high-pressure pipe to ensure that high-pressure air can be quickly delivered to the drainage system when triggered. The release valve is connected to a quick-drain pipe system that extends to each buoyancy compartment to ensure that each compartment can be quickly emptied in an emergency. For ease of operation, a manual operating lever extends from the release valve to the cockpit, ensuring that passengers can easily manually activate the flotation device in an emergency.

[0126] The mechanical emergency flotation device can be triggered manually or automatically. Passengers can manually activate the system by pulling the operating lever in the cockpit, or it can be automatically triggered when the water pressure sensor detects an abnormal situation. Once triggered, the mechanical release valve will open immediately, and compressed air will quickly enter the drainage system through the high-pressure pipe to quickly drain the water in the buoyancy chamber. As the buoyancy chamber is emptied, the buoyancy of the kart increases rapidly, allowing it to float to the surface quickly. In order to prevent accidental activation of the device by mistake, the system is also designed with a safety mechanism to ensure that the flotation device is only activated when it is really needed.

[0127] The acoustic positioning beacon consists of several key components, including an omnidirectional acoustic transmitter designed to transmit signals underwater to cover a wide area. To ensure long-term continuous operation in an emergency, the beacon is equipped with a long-lasting lithium battery to support several days of continuous operation. The entire beacon is enclosed in a high-strength waterproof casing that can withstand pressures exceeding the normal operating depth to ensure reliability in harsh underwater environments. The beacon is installed at the highest point on the top of the hull to ensure that the acoustic signal can propagate unimpeded and is not blocked by any hull components.

[0128] The acoustic positioning beacon is connected to the main control system via a cable and is usually in standby mode, ready to receive an activation signal at any time. In the event of a failure of the main system, the beacon can continue to work on its independent power supply, ensuring that the positioning signal can be sent out even in an emergency. In addition, the beacon is equipped with a waterproof interface for connecting to external diagnostic equipment so that it can be checked and calibrated during routine maintenance and testing to ensure that it is always in optimal working condition.

[0129] The working principle of the acoustic positioning beacon includes: when an emergency is detected, the main system fails, or a manual activation command is issued, the acoustic positioning beacon will immediately start and begin to transmit acoustic signals of a specific frequency. These signals follow the internationally accepted underwater emergency distress signal frequency and mode to ensure that they can be received by relevant equipment worldwide. In order to extend battery life, the beacon adopts an intermittent transmission mode to maximize power conservation while ensuring signal transmission. The beacon also has a self-check function and can perform self-diagnosis regularly to ensure that it can work normally at all times and provide reliable emergency positioning services.

[0130] The overall working process of the emergency self-rescue system is as follows:

[0131] Under normal conditions, the emergency self-rescue system is on standby and performs regular self-checks to ensure the normal operation of all subsystems. The system maintains communication with the main control system, monitors the status of the hull in real time, and is ready to respond to possible emergencies at any time. This continuous monitoring and self-checking mechanism ensures that the system can respond immediately when needed and provide the necessary self-rescue function.

[0132] When the system detects an abnormal situation, such as the rapid sinking of the hull, complete power failure, or manual activation by passengers, the emergency self-rescue system will be triggered immediately. If the central control system is still working, it will start the self-rescue program; if the central control system fails, the independent emergency control unit will take over to ensure that the self-rescue program can be started smoothly. This multiple redundancy mechanism ensures that passengers can get the necessary rescue in various extreme situations.

[0133] Once the self-rescue procedure is triggered, the system will simultaneously initiate multiple rescue steps. First, the inflation system of the automatic inflatable lifeboat will be activated immediately, causing the lifeboat to expand rapidly. Then the separation mechanism will be triggered, and the lifeboat will separate from the main hull and float up quickly. At the same time, the release valve of the mechanical emergency buoyancy device will open, and high-pressure air will be injected into the buoyancy tank, quickly draining the water in the tank and causing the hull to float up. At the same time, the sonic positioning beacon will also be activated, starting to transmit an emergency distress signal and entering energy-saving mode to ensure that it can continue to work for a long time.

[0134] After the self-rescue procedure is initiated, the lifeboat will first carry the passengers to the surface quickly to provide emergency buoyancy protection. The main hull will also float up synchronously under the action of the mechanical emergency floating device, reducing the overall risk of sinking. During this process, the system will prioritize the safety of the passengers and make the lifeboat and the main hull float up synchronously to maximize the chance of survival.

[0135] When the lifeboat reaches the surface, the inflation system will continue to work to ensure that the lifeboat is fully inflated to form a stable floating platform, providing a safe environment for passengers. At the same time, the GPS beacon and visual signal devices (such as flashing lights) on the lifeboat will automatically activate to help rescuers quickly locate on the water surface. The acoustic positioning beacon will also continue to transmit signals to support underwater search and rescue operations.

[0136] While waiting for rescue, the lifeboat provides a basic living environment to ensure the safety of passengers before rescue arrives. Positioning devices, such as GPS beacons and acoustic positioning beacons, will continue to work, sending location and distress signals to the outside world, helping rescuers quickly locate the passengers and implement effective rescue operations. The continuous operation of these devices ensures that long-term survival support can be provided in different environments.

[0137] This multiple emergency self-rescue system greatly improves the safety of the submersible kart through redundant design and multi-layer protection. Even in the worst case, such as a power outage, it can ensure that passengers can safely return to the water and wait for rescue. The system's automation and mechanical backup design take into account various possible failure situations, providing passengers with all-round safety protection.

[0138] Embodiment 8

[0139] like Figure 6 As shown, this embodiment describes in detail the structure and working principle of the intelligent lifting control system. The intelligent lifting control system includes: a second sensor component, a first control processor, an actuator, a power supply device and a communication device.

[0140] Regarding the second sensor component, the sensor system of the intelligent lifting control system consists of multiple key sensors. The depth sensor uses a high-precision pressure sensor, which is installed at the bottom outer shell of the hull and is in direct contact with the water to monitor the water depth of the hull in real time. The system is equipped with a main sensor and a backup sensor to ensure that normal depth measurement can be maintained when the main sensor fails. The attitude sensor uses a 9-axis inertial measurement unit (IMU), including an accelerometer, gyroscope and magnetometer, installed in the center of the hull to accurately detect the attitude and movement state of the hull. For positioning and navigation, the system is also equipped with an underwater GPS receiver, which uses acoustic positioning technology and is installed on the top of the hull to ensure accurate position data in an underwater environment.

[0141] Regarding the first control processor, the core of the intelligent lifting control system is the central processing unit, an industrial-grade embedded computer installed in a waterproof compartment in the middle of the hull to ensure reliability and durability in underwater environments. The processing unit is equipped with a high-performance multi-core processor that can quickly process large amounts of sensor data and run complex buoyancy and attitude control algorithms. Its waterproof and sealed design ensures that the computing unit can operate stably and provide precise control instructions even in high-pressure underwater environments.

[0142] Regarding the actuator, it consists of an electric thruster and a buoyancy adjustment system. The electric thruster uses a propeller driven by a brushless DC motor, which is installed at the four corners of the hull. Each thruster can rotate 360 ​​degrees to achieve flexible direction control and attitude adjustment. This configuration enables the hull to respond quickly to the instructions of the central processing unit and perform precise lifting and moving operations. The buoyancy adjustment system is connected to the variable buoyancy system and is responsible for adjusting the buoyancy of the hull according to the control instructions to ensure stability at different depths and attitudes.

[0143] Regarding the power supply, the intelligent lifting control system is powered by a high-capacity lithium-ion battery pack, which is cleverly distributed on the bottom of the hull, not only providing sufficient power support, but also acting as a counterweight, further enhancing the stability of the hull. The battery pack is connected to the central processing unit through the main power line and supplies power to each subsystem through branch lines. The high energy density design ensures that the system can maintain stable power supply during long-term underwater operations, supporting continuous lifting control and navigation operations.

[0144] As for the communication device, it uses an underwater acoustic communication device, one installed on the top and one on the bottom of the hull, to ensure effective communication at different depths and directions. The system is directly connected to the central processing unit, responsible for data transmission and receiving control instructions, enabling the hull to maintain real-time communication with external equipment or the control center in an underwater environment. This communication system provides the necessary information exchange channel for the intelligent operation of the hull underwater, ensuring the timely execution of instructions and real-time feedback of the status.

[0145] In the intelligent lifting control system, all sensors are connected to the central processing unit through waterproof data cables to ensure that sensor data can be transmitted to the first control processor in real time and safely for processing. The first control processor is connected to the electric thruster and buoyancy control system through the control bus and is responsible for sending instructions to control the movement and attitude of the hull. The power supply device is connected to the central processing unit through the main power line and provides a stable power supply to each subsystem through branch lines. The communication device is directly connected to the first control processor for data transmission and receiving control instructions in the underwater environment to ensure the overall coordinated operation of the system.

[0146] The working principle and process of the intelligent lifting control system are as follows:

[0147] When the system starts, the first control processor will first perform a comprehensive self-check to ensure that all subsystems such as sensors, thrusters, buoyancy control systems and communication systems are in normal working condition. Then, the first control processor will read the initial data of each sensor to establish a baseline for the current status, which provides a reliable reference point for subsequent operations and ensures that the system starts working in the best condition.

[0148] During system operation, the depth sensor continuously monitors the water pressure and converts it into real-time depth data. At the same time, the attitude sensor provides the pitch, roll and heading information of the hull. The GPS receiver provides accurate position data when the hull is on the water surface, and provides relative position estimation through acoustic positioning technology when it is underwater. The first control processor uses the Kalman filter algorithm to fuse multi-source data from different sensors to generate accurate hull position and attitude information, providing a basis for intelligent decision-making.

[0149] After obtaining accurate status data, the control model based on machine learning algorithms (such as reinforcement learning) will generate an optimized control strategy based on the current state and target position. In this process, the system will comprehensively consider factors such as target depth, current depth, ascent or descent speed, energy consumption, safety restrictions, etc. to ensure that the control strategy can effectively achieve the goal while maximizing efficiency and safety.

[0150] Once the intelligent decision is made, the system converts the decision result into specific control instructions. These instructions will be sent to the buoyancy control system and electric thrusters respectively. The buoyancy control system controls the filling and drainage status of each buoyancy tank to adjust the buoyancy of the hull; the electric thrusters control the power and direction to finely adjust the vertical movement and horizontal position of the hull to ensure that the hull moves according to the expected trajectory.

[0151] The system samples the data of all sensors at a high frequency (e.g. 100Hz), compares the actual motion state with the expected trajectory in real time, and calculates the motion error. In order to make immediate adjustments to these errors, the system uses the PID control algorithm to adjust the control parameters to achieve precise motion control. This real-time feedback mechanism ensures that the system can respond quickly to environmental changes and maintain a stable motion state.

[0152] During each mission, the system automatically records detailed execution data, which is analyzed offline after the mission is completed. By analyzing this data, the system can continuously optimize the parameters of the control model, thereby accumulating operating experience over time and improving control accuracy and efficiency. Through adaptive learning, the system becomes more and more intelligent and can better adapt to various complex underwater environments.

[0153] The system constantly monitors the battery charge, system temperature and other key parameters. To prevent accidental deep dives, the system sets a safety depth threshold, which automatically triggers the safety mechanism when it exceeds the threshold. In addition, if an abnormal situation is detected, such as a sudden tilt of the hull, the system will immediately initiate emergency procedures to ensure the safety of passengers and equipment. Multiple safety protection mechanisms ensure that the system can operate safely in various situations.

[0154] Through the underwater communication system, the hull and the surface control station maintain real-time data exchange. The operator can monitor the system status in real time through the control interface, such as key data such as position, depth, and attitude, and perform manual intervention when necessary. The human-computer interaction function not only provides a monitoring method, but also provides a direct intervention method for the operator in an emergency, improving the controllability and safety of the system.

[0155] The system design supports seamless switching between automatic mode and manual mode. In automatic mode, the operator can set the target depth or preset path, and the system will automatically execute the corresponding control strategy. In manual mode, the operator can directly control the thruster and buoyancy system to flexibly adjust the motion state of the hull. This mode switching function gives the system greater flexibility to adapt to different operating requirements and environmental conditions.

[0156] The intelligent lifting control system integrates advanced sensor technology, artificial intelligence algorithms and precision actuators to achieve precise control of the kart in an underwater environment. It not only ensures the stability and accuracy of vertical movement, but also maintains accurate horizontal positioning in complex underwater environments, greatly improving the control performance and safety of the submersible kart.

[0157] Embodiment 9

[0158] The design of the passenger cabin or sightseeing cabin and the underwater propulsion system are described in detail below.

[0159] The sightseeing cabin is made of high-strength transparent polycarbonate material and is designed in a hemispherical shape to provide passengers with a nearly 360-degree panoramic view. Depending on the maximum working depth of the kart, the wall thickness of the sightseeing cabin can be 50-80mm to ensure safety in deep water environments. The cabin diameter depends on the passenger capacity and can be between 3 and 4 meters. The hemispherical or spherical sightseeing cabin is located in the upper center of the kart to ensure the best field of view and viewing effect. The supporting structure is composed of a high-strength titanium alloy frame, designed as a skeleton structure that minimizes field of view obstruction, surrounds the spherical cabin, and is firmly connected to the main structure of the hull to provide the necessary support and stability.

[0160] Regarding the sealing system, in order to ensure the water tightness of the spherical sightseeing cabin in the underwater environment, a double-layer O-ring sealing system is used at the connection between the cabin and the supporting structure. These O-rings are made of special rubber that is resistant to seawater and pressure, and can maintain good sealing performance under high-pressure environments to prevent water from entering the cabin, thereby ensuring the safety of passengers and the viewing experience.

[0161] Regarding the lighting system, adjustable LED ring lights are installed on the top and bottom edges of the sightseeing cabin, which can automatically adjust the brightness according to the external light conditions to provide passengers with the best viewing lighting effect. Passengers can also manually adjust the lighting intensity through the control panel to adapt to different viewing needs and optimize the visual experience of underwater sightseeing.

[0162] Regarding the ventilation system, in order to ensure the air quality and passenger comfort in the sightseeing cabin, the system is equipped with a silent fan and air purifier, which are integrated at the bottom of the spherical cabin. The ventilation system continuously circulates the air in the cabin, while removing impurities and odors in the air through the purifier. The temperature and humidity sensors monitor the cabin environment in real time to ensure that the cabin is maintained within a comfortable temperature and humidity range, so that passengers can stay comfortable during long underwater sightseeing.

[0163] Regarding the safety system, in order to ensure the safety of passengers, a pressure sensor is installed in the spherical sightseeing cabin to monitor the pressure difference between the inside and outside of the cabin in real time. When an abnormal pressure change is detected, the system will immediately sound an alarm and initiate emergency procedures to prevent potential dangerous situations. In addition, the design and structure of the entire sightseeing cabin take into account the ability to respond quickly in an emergency, ensuring that the safety of passengers is always optimally guaranteed.

[0164] The core component of the underwater propulsion system is the encapsulated permanent magnet synchronous motor, which is configured with 4 to 6 according to the size of the hull. The specific power value of the motor depends on the load of the hull. These motors are distributed around the hull and are arranged symmetrically to provide balanced propulsion. Each motor is directly connected to a water jet thruster, which adopts a variable vector injection design and is made of corrosion-resistant alloys such as nickel-aluminum bronze to ensure its reliability for long-term operation in seawater. The vector control mechanism is integrated in each thruster unit through an electric servo system to achieve 360-degree all-round steering and enhance the maneuverability of the hull. The power control unit is located inside the hull, close to each motor, and uses a variable frequency drive to accurately control the speed and power output of the motor. The cooling system adopts a closed-loop liquid cooling system, which consists of a heat exchanger, a coolant pump and a radiator, which are distributed around the propulsion system to ensure stable temperature of the motor and control unit. To reduce noise, the propulsion system is also equipped with an acoustic isolation layer and vibration damping brackets wrapped around the motor and thruster unit.

[0165] In the underwater propulsion system, each permanent magnet synchronous motor is directly connected to the water jet propeller through a short shaft to ensure efficient power transmission. The power control unit is connected to each motor through a waterproof cable to achieve precise control of the motor operation. The cooling system is connected to all motors and control units through coolant pipes to form a closed-loop cooling circuit to ensure that the entire system maintains the optimal operating temperature during operation. The entire propulsion system is connected to the central control system through a data bus to provide real-time data and receive control instructions to ensure the coordinated operation of the system and other functional modules of the hull.

[0166] The underwater propulsion system converts electrical energy into mechanical energy through a permanent magnet synchronous motor, and the variable frequency drive precisely controls the motor speed to achieve stepless speed regulation and provide the required power output. The water jet thruster further converts mechanical energy into propulsion, and generates power to propel the hull forward by adjusting the speed and direction of the jet water. The servo system controls the direction of the thruster and supports 360-degree all-round steering. The central control system coordinates multiple thrusters according to navigation requirements to achieve complex motion control, such as steering, positioning, and acceleration and deceleration.

[0167] The underwater propulsion system dynamically adjusts the power output of each propeller according to the speed and maneuverability requirements of the hull. When cruising at low speed, the system can selectively enable only some propellers to improve overall energy efficiency and endurance. When rapid maneuvers or dealing with complex underwater environments are required, the system will maximize the power of all propellers to ensure the flexibility and response speed of the hull.

[0168] In order to reduce noise when running underwater, the underwater propulsion system adopts an encapsulated design and an acoustic isolation layer is installed around the motor and thruster unit, which greatly reduces the transmission of noise. In addition, the vibration-damping bracket further reduces the vibration of the motor and thruster when they are running, preventing the vibration from being transmitted to the hull structure, thereby reducing the noise perception of passengers and improving overall comfort.

[0169] The system adopts a closed-loop liquid cooling system. The coolant is circulated to the motor and control unit through a coolant pump, and the heat is transferred to the surrounding seawater through a heat exchanger to maintain a stable operating temperature of the system. This cooling system ensures that the motor and control unit will not affect performance or cause failure due to overheating during long-term operation.

[0170] The central control system coordinates the operation of all thrusters in real time through the data bus, and performs precise positioning, steering and speed control according to current navigation requirements. By independently controlling each thruster, the system can achieve complex motion modes, such as fixed-point rotation, rapid steering and emergency braking, providing high-precision control capabilities for the hull.

[0171] The underwater propulsion system is designed with a fault-tolerant mechanism, which allows the basic maneuverability to be maintained even if one or more thrusters fail. When a thruster fails, the system automatically redistributes the power of the remaining thrusters to ensure that the hull can safely complete the current mission or return to a safe area. This design improves the reliability and safety of the system and provides sufficient protection under extreme conditions.

[0172] This panoramic sightseeing cabin design combined with an advanced underwater propulsion system not only provides passengers with an excellent underwater sightseeing experience, but also ensures the flexibility and controllability of the kart in the underwater environment. The design of the spherical sightseeing cabin maximizes the field of view while ensuring structural strength and passenger comfort. The silent electric propulsion system uses advanced vector control technology to achieve precise, flexible and quiet underwater maneuvers, greatly improving the performance of the entire system and user experience.

[0173] Embodiment 10

[0174] like Figure 7 As shown, the structure and working principle of the intelligent navigation and obstacle avoidance system are described in detail below.

[0175] The core components of the intelligent navigation and obstacle avoidance system include a multi-beam sonar system, an underwater camera array, an edge computing unit, an inertial measurement unit (IMU), a depth sensor, a GPS / GLONASS receiver, and a second control processor. The multi-beam sonar system consists of four high-frequency units installed around the front, rear, left, and right sides of the hull, embedded in the hull shell to keep it flush with the hull contour, with a frequency range of 400-700kHz, and automatically adjusted according to the environment to provide 360-degree underwater environment coverage. The underwater camera array consists of 6-8 high-sensitivity low-light cameras installed around the sightseeing cabin. Each camera has a 4K ultra-high-definition resolution and a 120-degree field of view to ensure minimal visual obstruction. The edge computing unit uses a high-performance AI acceleration chip, such as NVIDIA Jetson AGX Xavier, with a memory of 32GB LPDDR4x and a storage of 512GB NVMe SSD, installed in a waterproof cabin in the middle of the hull. The high-precision MEMSIMU provides accurate attitude and motion data and is installed at the center of gravity of the hull. The depth sensor measures the water depth through a high-precision pressure sensor and is installed at the bottom of the hull, equipped with two systems: primary and backup. The GPS / GLONASS receiver, combined with underwater acoustic positioning technology, is installed on the top of the hull to provide accurate position data. The second control processor is electrically connected to the edge computing unit and is used to perform navigation and obstacle avoidance decisions based on obstacle location and type information, the kart's attitude and motion data, water depth data, and the kart's position data.

[0176] All sensors, including sonar, cameras, IMU, depth sensors and GPS receivers, are connected to the edge computing unit via high-speed data lines. The edge computing unit is connected to the central control system via redundant communication links to ensure system stability and timely data transmission. The entire navigation and obstacle avoidance system is powered by the shipboard power system and is equipped with a backup power supply to prevent power outages at critical moments, thereby ensuring continuous operation of the system.

[0177] The working process of the intelligent navigation and obstacle avoidance system is divided into multiple stages.

[0178] In the environmental perception step, the system first uses multi-beam sonar to perceive the environment. The sonar unit continuously emits sound waves and receives echoes. By measuring the round-trip time of the sound waves, the distance of obstacles is calculated and 360-degree point cloud data of the underwater environment is generated. At the same time, the underwater camera array captures images of the surrounding environment. These images are pre-processed, such as denoising and contrast enhancement, and then deep learning algorithms are used to identify underwater objects, such as schools of fish, corals or other submersibles.

[0179] In the data fusion step, the edge computing unit is responsible for receiving and synchronizing data from all sensors, and using the Kalman filter algorithm to fuse the data from sonar, vision, IMU and depth sensors. This process generates a high-precision three-dimensional environmental model and the accurate position and attitude information of the hull, providing a reliable foundation for subsequent path planning and obstacle avoidance decisions.

[0180] In the environmental modeling step, based on the fused data, the system builds and updates a 3D map of the surrounding environment in real time. Through SLAM (Simultaneous Localization and Mapping) technology, the system continuously optimizes the accuracy of the map, identifies and marks potential danger areas and points of interest, which enables the navigation system to maintain high-precision positioning and safety monitoring in complex underwater environments.

[0181] In the path planning step, based on the generated environmental model, the system uses A* or RRT algorithm for path planning and calculates the optimal path to the target location. The path planning process takes into account multiple factors, such as safety distance, energy consumption, and passengers' sightseeing experience, to ensure that the generated path is both safe and efficient. At the same time, the system will update the path in real time to adapt to the dynamically changing environment.

[0182] In the obstacle avoidance decision step, during navigation, the system continuously monitors the surrounding environment and identifies potential collision risks. Using prediction algorithms, the system can estimate the trajectory of moving objects. If a potential collision risk is detected, the system immediately starts the obstacle avoidance program, calculates multiple possible obstacle avoidance paths, and evaluates the safety and efficiency of each path, and finally selects the optimal path and performs obstacle avoidance operations.

[0183] In the motion control step, the path planning results will be converted into specific motion instructions. Through real-time communication with the propulsion system, the system can accurately control the movement of the hull. At the same time, the system continuously compares the actual movement with the planned path and makes necessary fine-tuning to ensure that the hull can move forward safely according to the predetermined trajectory.

[0184] In the human-machine interaction step, the intelligent navigation and obstacle avoidance system can display environmental information, planned paths and obstacle avoidance decisions in real time on the cockpit screen, providing a clear visual interface. The operator can monitor the navigation situation in real time through this interface and intervene manually when necessary, taking over control or modifying the route at any time to deal with special situations or emergencies.

[0185] In the adaptive learning step, the system will record all navigation and obstacle avoidance data during navigation, analyze historical data through machine learning algorithms, and continuously optimize the decision model. As the system is used for a longer time, it will gradually adapt to the environment of different waters, improve navigation efficiency and obstacle avoidance capabilities, and ensure that it can maintain a high level of operational performance under various conditions.

[0186] In the emergency handling step, the system sets a multi-level safety threshold. When the ship approaches the dangerous area, the system will gradually increase the alarm level, and in extreme cases, when a large object is detected approaching rapidly, it will automatically perform emergency evasive actions. This mechanism ensures that the system can respond quickly to sudden dangers and ensure the safety of passengers and equipment.

[0187] In the collaborative operation step, the intelligent navigation and obstacle avoidance system maintains real-time communication with other systems on board (such as the oxygen supply system and the power management system), and dynamically adjusts the navigation strategy according to the current system status, such as the remaining power and oxygen reserves, to achieve optimal navigation efficiency and safety. Through this collaborative operation, the system can flexibly respond to challenges under different operating conditions and ensure the smooth operation of the hull.

[0188] This intelligent navigation and obstacle avoidance system provides highly autonomous navigation capabilities for submersible karts through multi-sensor fusion and advanced AI algorithms. It can not only safely and effectively plan paths and avoid obstacles, but also provide rich environmental information, greatly improving the safety and experience of underwater sightseeing. The system's adaptive learning ability enables it to continuously optimize performance and adapt to various complex underwater environments. At the same time, the design of the human-computer interaction interface ensures that while operating automatically, the possibility of human intervention is still retained, further improving the reliability and flexibility of the system.

[0189] The embodiment of the present invention develops a safe, reliable and entertaining submersible kart through the integration of innovative design and advanced technology. It not only expands the functions of traditional karts, but also opens up a new direction for the water entertainment industry and has broad market prospects and application potential.

[0190] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0191] Embodiment 11

[0192] like Fig.10 As shown, an embodiment of the present invention provides a control method for a submersible kart, which includes the following steps:

[0193] S110: Obtain input target depth.

[0194] In this step, the system receives the target depth value input by the operator through the human-computer interface. For example, the operator may enter 10 meters as the target depth. The system stores this value in memory as a reference point for subsequent control processes.

[0195] S120: Acquire the current depth, pressure of each buoyancy chamber and hull attitude data.

[0196] Specifically, the system obtains the following data in real time through various sensors: the current depth, which is measured by a depth sensor installed on the outside of the hull with an accuracy of ±0.1 meters. The pressure of each buoyancy chamber, each buoyancy chamber is equipped with a pressure sensor that can measure the water pressure in the chamber and thus calculate the amount of water in the chamber. The hull attitude data, which is obtained through the inertial measurement unit (IMU) installed at the center of the hull, including roll angle, pitch angle and yaw angle.

[0197] For example, the system may obtain the following data: current depth: 8.5 meters; buoyancy chamber 1 pressure: 150kPa, buoyancy chamber 2 pressure: 155kPa, buoyancy chamber 3 pressure: 152kPa, buoyancy chamber 4 pressure: 153kPa; hull attitude: roll angle 2°, pitch angle 1.5°, yaw angle 0.5°.

[0198] S130: Calculate the depth difference between the target depth and the current depth.

[0199] The system subtracts the target depth from the current depth to get the depth difference. In this example:

[0200] Depth difference = target depth - current depth = 10 meters - 8.5 meters = 1.5 meters.

[0201] S140: Calculate the total buoyancy that needs to be adjusted according to the depth difference, the buoyancy chamber pressure and the hull attitude data.

[0202] The system uses a preset algorithm to comprehensively consider the depth difference, the pressure of each buoyancy chamber and the hull attitude data to calculate the total buoyancy that needs to be adjusted.

[0203] For example, the system uses the following simplified formula:

[0204] Total buoyancy adjustment = k1*depth difference + k2*(average cabin pressure - standard cabin pressure) + k3*(attitude deviation).

[0205] Among them, k1, k2, and k3 are preset weight coefficients.

[0206] Substitute the data:

[0207] Total buoyancy adjustment = 0.8*1.5+0.1*(152.5-150)+0.1*(2+1.5+0.5)=1.45 (unit: kN).

[0208] S150: Determine the specific buoyancy tanks that need to be filled or drained and the corresponding water volumes.

[0209] Based on the calculated total buoyancy adjustment and the current hull attitude, the system decides how to allocate the adjustment to each buoyancy tank. For example, buoyancy tank 1: the amount of water corresponding to the displacement of 0.4kN; buoyancy tank 2: the amount of water corresponding to the displacement of 0.35kN; buoyancy tank 3: the amount of water corresponding to the displacement of 0.4kN; buoyancy tank 4: the amount of water corresponding to the displacement of 0.3kN. This allocation takes into account both the need for total buoyancy adjustment and the balance of the hull attitude.

[0210] S160: Control the filling and drainage devices of the corresponding buoyancy tanks to perform buoyancy adjustment.

[0211] The system sends instructions to the control valves and bidirectional electric water pumps of each buoyancy chamber to perform the filling and drainage operations determined in the previous step. Each buoyancy chamber is equipped with a high-efficiency micro bidirectional electric water pump driven by a brushless DC motor and adopts a waterproof and sealed design to ensure safe and stable operation in an underwater environment.

[0212] For example: control the bidirectional electric water pump of buoyancy chamber 1 to work in drainage mode for 10 seconds; control the bidirectional electric water pump of buoyancy chamber 2 to work in drainage mode for 8 seconds; control the bidirectional electric water pump of buoyancy chamber 3 to work in drainage mode for 10 seconds; control the bidirectional electric water pump of buoyancy chamber 4 to work in drainage mode for 7 seconds.

[0213] During the execution process, the system determines whether to fill or drain water by controlling the opening and closing of valves and the direction of the water pump. For example, when drainage is required, the system will open the drainage valve, close the water inlet valve, and control the water pump to run in the drainage direction. Conversely, when filling water is required, the system will open the water inlet valve, close the drainage valve, and control the water pump to run in the filling direction.

[0214] The system continuously monitors depth changes and hull posture. If deviations are detected, it will fine-tune the filling and drainage operations in real time, including adjusting the working time and speed of the water pump, and switching the working mode of the water pump (switching between filling and drainage) when necessary.

[0215] This bidirectional electric water pump design enables the system to control buoyancy more flexibly, without the need to install different pumps for filling and draining, thereby simplifying the equipment structure, improving space utilization efficiency, and enhancing system reliability and maintenance convenience. Through this precise buoyancy control, the system can achieve precise positioning and attitude adjustment of the kart in the underwater environment, providing passengers with a safe and stable underwater experience.

[0216] Through the above steps, the system can accurately control the kart to dive to the target depth while maintaining the balance of the hull. The whole process is automated, and the operator only needs to input the target depth, and the system can automatically complete all the complex calculations and control operations, greatly improving the safety and convenience of underwater activities.

[0217] In some embodiments, the control method further comprises the following steps:

[0218] Real-time monitoring of depth changes and ship attitude data;

[0219] When the depth approaches the target value, the following operations are performed: reduce the buoyancy adjustment range; adjust the filling and displacement of each buoyancy tank according to the hull attitude data to maintain the balance of the hull;

[0220] When the target depth is reached, the system enters fine adjustment mode and maintains depth stability and hull balance through the following fine-tuning methods: setting the minimum unit of buoyancy adjustment to no more than 0.1% of the total buoyancy; increasing the frequency of buoyancy adjustment to no less than 10 times per second; continuously monitoring the hull attitude data, and adjusting the hull attitude in real time by individually controlling the filling and displacement of each buoyancy tank.

[0221] In some embodiments, the continuous monitoring of the hull attitude data and real-time adjustment of the hull attitude by individually controlling the filling or displacement of each buoyancy tank specifically includes: obtaining the current attitude data of the hull; calculating the difference between the ideal attitude and the current attitude; determining the buoyancy tank that needs to be adjusted based on the position and current state of each buoyancy tank; separately calculating and controlling the filling or displacement of each selected buoyancy tank; continuously monitoring attitude changes, and repeating the above steps as needed until the ideal attitude is achieved and maintained.

[0222] In some embodiments, the control method further includes the following steps: continuously acquiring monitored environmental parameters; recalculating the required buoyancy according to the influence of the environmental parameters on water density; and adjusting the filling and discharging volume of the buoyancy tank according to the recalculated required buoyancy.

[0223] Specifically, the system continuously monitors the parameters of the surrounding environment through various sensors installed on the kart. These parameters mainly include: water temperature, which is obtained using a high-precision temperature sensor with an accuracy of up to ±0.1°C. Water pressure, which is indirectly measured through a depth sensor with an accuracy of up to ±0.01MPa. Salinity, which is measured using a conductivity sensor with an accuracy of up to ±0.1PSU (Practical Salinity Unit).

[0224] For example, the system may obtain the following data: current water temperature: 15°C, current water pressure: 0.2MPa (corresponding to a depth of approximately 20 meters), current salinity: 35PSU (typical seawater salinity).

[0225] The system uses a preset water density calculation model to calculate the current water density based on the acquired environmental parameters. This model takes into account the combined effects of temperature, pressure and salinity on water density.

[0226] For example, using the simplified density calculation formula:

[0227] ρ=ρ0+αT(T-T0)+βS(S-S0)+γP(P-P0);

[0228] Where ρ0 is the water density under standard conditions (e.g. 1000 kg / m 3 ); T, S, P are the current temperature, salinity and pressure respectively; T0, S0, P0 are reference values; αT, βS, γP are the corresponding coefficients.

[0229] After substituting the data, the system obtains the current water density as 1026kg / m 3 .

[0230] Next, the system recalculates the required buoyancy based on Archimedes' principle:

[0231] Required buoyancy = kart displacement volume * water density * gravity acceleration;

[0232] Assume the displacement of the kart is 2m 3 , then the required buoyancy = 2*1026*9.8≈20109.6N.

[0233] The system compares the recalculated required buoyancy with the current buoyancy and determines the difference in buoyancy that needs to be adjusted. The system then decides how to distribute this difference in buoyancy to each buoyancy compartment. For example, if the calculation shows that an additional buoyancy of 100N is required, the system may make the following distribution: Buoyancy compartment 1: increase 30N; Buoyancy compartment 2: increase 20N; Buoyancy compartment 3: increase 30N; Buoyancy compartment 4: increase 20N.

[0234] The system then controls the bidirectional electric water pumps of each buoyancy chamber to perform corresponding drainage operations. Assuming the density of water is 1026kg / m 3 , then: Buoyancy chamber 1: discharges about 3 liters of water; Buoyancy chamber 2: discharges about 2 liters of water; Buoyancy chamber 3: discharges about 3 liters of water; Buoyancy chamber 4: discharges about 2 liters of water.

[0235] During the adjustment process, the system continuously monitors changes in depth and attitude, and makes real-time fine-tuning when necessary to ensure that the kart remains at the target depth and ideal attitude. Through this continuous environmental monitoring and buoyancy adjustment, the system can adapt to changes in the underwater environment (such as thermocline, salinity changes, etc.) and maintain the stability and safety of the kart in various complex hydrological conditions. This not only improves the kart's control accuracy, but also greatly enhances its adaptability in different waters and depths, providing passengers with a safer and more comfortable underwater experience.

[0236] In some embodiments, the control method further includes the following steps: regularly checking the status of each buoyancy chamber; if a single buoyancy chamber failure is detected, automatically adjusting the filling and drainage volume of other normally working buoyancy chambers to maintain balance.

[0237] In some embodiments, if a single buoyancy tank failure is detected, the filling and drainage volumes of other normally functioning buoyancy tanks are automatically adjusted to maintain balance, specifically including: identifying the failed buoyancy tank; calculating the buoyancy change caused by the failed buoyancy tank; calculating the amount of water that needs to be adjusted for each normally functioning buoyancy tank based on the position and capacity of the remaining normally functioning buoyancy tanks; and controlling the filling and drainage devices of the normally functioning buoyancy tanks to execute the calculated water volume adjustment.

[0238] Specifically, the system identifies a faulty buoyancy chamber by:

[0239] The pressure anomaly detection method refers to that each buoyancy chamber is equipped with a pressure sensor with an accuracy of ±0.01MPa. The system continuously monitors the pressure of each chamber. If the pressure of a chamber suddenly changes abnormally (for example, drops sharply), it is determined that the chamber may have a fault.

[0240] The filling and drainage response detection method refers to the system monitoring the actual water volume changes of each buoyancy chamber when executing the filling and drainage instructions. If a buoyancy chamber does not have the expected water volume change after receiving the instruction, it is determined that the chamber may be faulty.

[0241] The buoyancy anomaly detection method compares the actual buoyancy of each buoyancy chamber with the theoretical buoyancy. If the actual buoyancy of a buoyancy chamber deviates significantly from the theoretical value, it is determined that the buoyancy chamber may have a fault.

[0242] For example, the system detects that the pressure of buoyancy tank No. 3 suddenly drops from 0.2MPa to 0.05MPa, and at the same time, there is no expected increase in water volume when executing the water filling command, so it is determined that buoyancy tank No. 3 has a fault.

[0243] The system calculates the buoyancy change through the following steps: obtain the cabin data before the failure, which includes water volume, pressure, etc.; estimate the current cabin status based on the latest data from the pressure sensor; calculate the buoyancy change: buoyancy change = (water volume before the failure - current estimated water volume) * water density * gravity acceleration.

[0244] Assuming that the water volume in No. 3 tank before the failure was 100L, the current estimated water volume is 10L (based on pressure data), and the water density is 1025kg / m 3 , the acceleration due to gravity is 9.8 m / s 2 , we calculate:

[0245] Buoyancy change = (100-10)*1025*9.8 / 1000≈902.9 N. This means that due to the failure of cabin 3, the kart suddenly gained about 902.9 N of buoyancy.

[0246] The system calculates the amount of water that needs to be adjusted for each normally working buoyancy compartment based on the following principles: the total adjustment should be equal to the change in buoyancy of the faulty compartment; the position of each normal compartment is taken into consideration to try to keep the hull balanced; the adjustment is distributed according to the remaining capacity of each compartment.

[0247] Assume that the kart has 4 buoyancy chambers, chamber 3 fails, and chambers 1, 2, and 4 work normally. The adjustment calculation is as follows:

[0248] Calculate the total amount of water to be adjusted: Total water volume = buoyancy change / (water density * gravity acceleration) = 902.9 / (1025 * 9.8) ≈ 0.09m 3 =90L.

[0249] The distribution adjustment is as follows: No. 1 compartment (left front) increases by 35L, No. 2 compartment (right front) increases by 35L, and No. 4 compartment (right rear) increases by 20L. This distribution takes into account the balance of the hull, and more water is added to the two front compartments to compensate for the buoyancy loss of the rear No. 3 compartment.

[0250] The system sends water filling instructions to each buoyancy tank that is working normally: control the water filling device of tank 1 to work and add 35L of water. Control the water filling device of tank 2 to work and add 35L of water. Control the water filling device of tank 4 to work and add 20L of water.

[0251] During the adjustment process, the system monitors the hull attitude and depth changes in real time and makes fine adjustments when necessary to ensure that the kart remains stable. At the same time, the system continuously monitors the status of the faulty compartment to prevent the situation from further deteriorating.

[0252] Through this fast and precise fault response mechanism, even if a single buoyancy compartment fails, the kart can still maintain a relatively stable state, greatly improving the safety of underwater operations. This not only provides additional safety for passengers, but also buys more emergency response time for operators.

[0253] In some embodiments, the control method further includes the following steps: monitoring the working status of the oxygen supply system; and adjusting the oxygen output of the oxygen supply system according to the number and activity status of passengers.

[0254] Specifically, the system continuously monitors the working status of the oxygen supply system through various sensors, including: oxygen concentration, which is monitored by a high-precision oxygen sensor with an accuracy of ±0.1%. Oxygen tank pressure, which is monitored by a pressure sensor with an accuracy of ±0.01MPa. Oxygen flow, which is measured by a flow meter with an accuracy of ±0.1L / min.

[0255] For example, the system obtains the following data: the oxygen concentration in the passenger compartment is 20.5%; the oxygen storage tank pressure is 15MPa; and the current oxygen flow rate is 5L / min.

[0256] The system obtains passenger information in the following ways: Number of passengers, which is obtained through the infrared counter at the entrance. Activity status, which is analyzed by the motion-sensing camera in the cabin to analyze the passenger activity level. For example: the current number of passengers is 4; the activity status is medium intensity (according to the preset activity intensity classification).

[0257] Based on the acquired data, the system calculates the required oxygen output using a preset algorithm: Required oxygen = basic oxygen demand * number of passengers * activity intensity factor;

[0258] Assuming the basic oxygen demand is 0.5L / min / person and the activity intensity coefficient is 1.2, the required oxygen volume = 0.5*4*1.2 = 2.4L / min.

[0259] The system then adjusts the opening of the oxygen supply valve, adjusting the oxygen flow rate from the current 5L / min to 2.4L / min. At the same time, the system will continue to monitor the oxygen concentration in the cabin to ensure that it remains within a safe range (for example, 19.5% to 23.5%).

[0260] Through this intelligent oxygen supply control, the system can accurately adjust the oxygen supply according to actual needs, which not only ensures the safety of passengers, but also avoids the waste of oxygen and extends the underwater operation time of the kart.

[0261] In some embodiments, the control method further includes the following steps: monitoring the working status of the underwater propulsion system; and controlling the propeller of the underwater propulsion system according to the operator's instructions or a preset navigation path.

[0262] Specifically, the system continuously monitors the working status of the underwater propulsion system through various sensors, including: thruster speed, which is measured by Hall sensors with an accuracy of ±1RPM. Thruster power consumption, which is monitored by current sensors with an accuracy of ±0.1A. Thruster temperature, which is measured by thermocouples with an accuracy of ±1°C.

[0263] For example, the system may obtain the following data:

[0264] Propeller 1 speed: 1200RPM, power consumption: 500W, temperature: 35℃;

[0265] Propeller 2 speed: 1100RPM, power consumption: 480W, temperature: 34℃;

[0266] Propeller 3 speed: 1150RPM, power consumption: 490W, temperature: 35℃;

[0267] Propeller 4 speed: 1180RPM, power consumption: 495W, temperature: 36℃.

[0268] The system can obtain movement instructions in two ways: real-time input from the operator, which is input through the joystick or touch screen interface. Preset navigation path, which can be selected from preset paths stored in the system. For example, the operator inputs a command to move forward 10 meters and dive 2 meters at the same time.

[0269] Based on the received instructions and current status, the system calculates the thrust and direction required for each thruster:

[0270] Thruster 1 (front left): 10% thrust increase, 5° downward tilt;

[0271] Thruster 2 (front right): 10% more thrust, tilted 5° downward;

[0272] Thruster 3 (left rear): Increase thrust by 5%, keep level;

[0273] Thruster 4 (Rear Right): Increases thrust by 5%, maintains leveling.

[0274] The system then sends control signals to the thrusters, adjusting their speed and direction:

[0275] Thruster 1: Adjust the speed to 1320 RPM and tilt downward 5°;

[0276] Thruster 2: Speed ​​adjusted to 1210 RPM, tilted downward 5°;

[0277] Propeller 3: Adjust the speed to 1208RPM and keep it level;

[0278] Thruster 4: Adjust the speed to 1239RPM and keep it level.

[0279] During the execution process, the system will continuously monitor the movement status of the kart, including speed, direction and posture, and fine-tune the working parameters of the thrusters in real time based on the feedback data to ensure that the kart moves smoothly along the predetermined trajectory.

[0280] Through this precise propulsion system control, the kart can achieve flexible and precise movement in complex underwater environments. Whether following a preset path or responding to real-time operating instructions, it can ensure a high degree of controllability and stability, providing passengers with a smooth and comfortable underwater sailing experience.

[0281] In some embodiments, the control method further comprises the following steps: continuously monitoring the status of various systems of the kart; if any abnormality or emergency is detected, immediately starting the corresponding emergency procedure to activate the emergency self-rescue system;

[0282] The emergency procedure includes: activating the automatic inflatable lifeboat, the mechanical emergency buoyancy device and the acoustic positioning beacon at the same time; controlling the inflation of the lifeboat and separating it from the hull of the kart; controlling the emptying of the buoyancy chamber to make the hull of the kart float; and controlling the emission of the acoustic positioning signal.

[0283] like Fig.11 As shown, an embodiment of the present invention further provides a computer-readable storage medium, which stores a computer program therein. When the computer program is executed by a processor, the control method of the submersible kart described above is implemented.

[0284] Figures 1 to 9If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium. Of course, there are other ways of readable storage media, such as quantum memory, graphene memory, etc.

[0285] Fig.12 Schematic diagram of the structure of an electronic device according to an embodiment of the present invention. Fig.12 At the hardware level, the electronic device includes a processor, and optionally also includes an internal bus, a network interface, and a memory. The memory may include a memory, such as a high-speed random access memory (RAM), and may also include a non-volatile memory (non-volatile memory), such as at least one disk storage. Of course, the electronic device may also include hardware required for other services.

[0286] The processor, network interface and memory can be connected to each other through an internal bus, which can be an industrial standard architecture ISA bus, a peripheral component interconnect standard PCI bus or an extended industrial standard architecture EISA bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Fig.12 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0287] The memory is used to store the program. Specifically, the program may include a program code, and the program code includes a computer operation instruction. The memory may include a memory and a non-volatile memory, and provides instructions and data to the processor. The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs it.

[0288] The above method can be applied to a processor or implemented by a processor. The processor may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by an integrated logic circuit of hardware in the processor or an instruction in software form. The above processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present invention can be implemented or executed. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in conjunction with the embodiments of the present invention can be directly embodied as a hardware decoding processor for execution, or can be executed by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium mature in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.

[0289] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices, and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the process in the flowchart. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0290] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0291] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A control method for a submersible kart, characterized in that: The following steps are involved: Get the input target depth; Obtain current depth, pressure of each buoyancy chamber and hull attitude data; Calculating a depth difference between the target depth and the current depth; Calculating the total buoyancy that needs to be adjusted based on the depth difference, the buoyancy chamber pressure and the hull attitude data; Determine the specific buoyancy tanks that need to be filled or drained and the corresponding amount of water; Control the filling and drainage devices of the corresponding buoyancy tanks to perform buoyancy adjustment.

2. The control method according to claim 1, characterized in that: The following steps are also included: Real-time monitoring of depth changes and ship attitude data; When the depth approaches the target value, the following operations are performed: reduce the buoyancy adjustment range; adjust the filling and displacement of each buoyancy tank according to the hull attitude data to maintain the balance of the hull; When the target depth is reached, the boat enters fine adjustment mode to maintain depth stability and hull balance through fine adjustments.

3. The control method according to claim 1, characterized in that: The following steps are also included: Continuously obtain monitored environmental parameters; Recalculating the required buoyancy according to the influence of the environmental parameters on the water density; Adjust the filling and drainage volume of the buoyancy tank according to the recalculated required buoyancy.

4. The control method according to claim 1, characterized in that: The following steps are also included: Regularly check the status of each buoyancy tank; If a single buoyancy chamber failure is detected, the filling and drainage of other normally functioning buoyancy chambers are automatically adjusted to maintain balance.

5. The control method according to claim 4, characterized in that: If a single buoyancy tank failure is detected, the filling and drainage volume of other normally functioning buoyancy tanks are automatically adjusted to maintain balance, specifically including: Identify malfunctioning buoyancy chambers; Calculate the change in buoyancy caused by a faulty buoyancy chamber; Calculate the amount of water that needs to be adjusted for each buoyancy tank that is working normally, based on the position and capacity of the remaining buoyancy tanks that are working normally; Control the filling and drainage device of the normally operating buoyancy tank and execute the calculated water volume adjustment.

6. The control method according to claim 1, characterized in that: The following steps are also included: Monitor the working status of the oxygen supply system; The oxygen output of the oxygen supply system is adjusted according to the number and activity status of passengers.

7. The control method according to claim 1, characterized in that: The following steps are also included: Monitor the working status of the underwater propulsion system; The propeller of the underwater propulsion system is controlled according to the operator's instructions or a preset navigation path.

8. The control method according to claim 1, characterized in that: The following steps are also included: Continuously monitor the status of various systems of the kart; If any abnormality or emergency is detected, immediately initiate the corresponding emergency procedures to activate the emergency self-rescue system; The emergency procedure includes: activating the automatic inflatable lifeboat, the mechanical emergency buoyancy device and the acoustic positioning beacon at the same time; controlling the inflation of the lifeboat and separating it from the hull of the kart; controlling the emptying of the buoyancy chamber to make the hull of the kart float; and controlling the emission of the acoustic positioning signal.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the control method of the submersible kart as described in any one of claims 1 to 8 is implemented.

10. An electronic device, characterized in that: It includes: processor; a memory for storing instructions executable by the processor; Wherein, the processor is configured to execute the instructions to implement the control method of the submersible kart as described in any one of claims 1-8.

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