Intelligent manned diving equipment capable of realizing autonomous cross-domain and emergency floating

Abstract

The invention discloses intelligent manned diving equipment capable of achieving autonomous cross-domain and emergency floating, and belongs to the technical field of submersible vehicle manufacturing. The technical problems that due to the structure of an existing manned submersible, launching and recycling depend on a mother ship, land-sea autonomous cross-domain launching cannot be achieved, and the self-rescue function is incomplete are solved. The underwater vehicle comprises a submersible vehicle cabin, a land-sea cross-domain driving system, an emergency ballast system and a control box, wherein the control box is mounted at the middle rear part in the submersible vehicle cabin; the land-sea cross-domain driving system comprises an anti-pulley group and a propeller group; the emergency ballast system comprises a ballast tank, a high-pressure oxygen bottle and a life sustaining device, the ballast tank is arranged on the lower side of the interior of the submersible cabin, the ballast tank is provided with a water inlet and a water outlet, and the high-pressure oxygen bottle and the life sustaining device are both arranged on the rear side of the interior of the submersible cabin; autonomous transition from a beach to a deep water area can be realized; ballast water can be discharged through the high-pressure oxygen cylinder to achieve emergency floating. The method is used for designing and manufacturing the manned submersible vehicle.

Description

TECHNICAL FIELD

[0001] The present application relates to a kind of intelligent manned submersible equipment that can realize autonomous cross-domain and emergency upfloating, belong to the technical field of submersible. BACKGROUND

[0002] With the vigorous development of marine tourism industry and the in-depth promotion of national marine power strategy, manned submersible as the key equipment of marine tourism and scientific investigation, market demand continues to grow, but this industry is faced with three core bottlenecks of high cost, difficulty in water and poor safety for a long time: advanced submersible due to high-strength material and precise system to push up the cost;Secondly, the traditional water entry mode completely depends on the water entry of port hoisting facilities, which cannot adapt to the long beach terrain commonly seen in China's coastline;Thirdly, the safety protection is weak, the traditional emergency upfloating response is slow, lacks multi-source fault diagnosis capability, and major risk disposal lags behind and other problems.

[0003] In the existing solution, international high-end models are difficult to popularize, and domestic competitors are limited by single drive mode, simple safety monitoring and lack of intelligent control functions and other structural defects. Neither can it realize land-sea autonomous cross-domain deployment, nor can it guarantee the safety and comfort of sightseeing in complex sea conditions, nor can it support commercial needs such as large diving depth, high endurance and multiple passengers. Therefore, a new manned submersible that integrates low-cost manufacturing, shallow beach adaptive deployment, second-level safety protection and intelligent sightseeing control is needed to promote industrial upgrading. Chinese patent application CN103224015B discloses a double-column shell double-body combined self-rescue manned submersible, but it only has underwater propulsion mode, no land moving ability, completely depends on the deployment and recovery of the mother ship, and its safety design is only for self-rescue in case of ship damage, without solving common risks such as power failure and mechanical failure.

[0004] In summary, the existing manned submersible has the technical problems of relying on the deployment and recovery of the mother ship due to its own structure, unable to realize land-sea autonomous cross-domain deployment, and imperfect self-rescue function. SUMMARY

[0005] The present application is to solve the technical problems of the existing manned submersible due to its own structure, relying on the deployment and recovery of the mother ship, unable to realize land-sea autonomous cross-domain deployment, and imperfect self-rescue function, and further provides an intelligent manned submersible equipment that can realize autonomous cross-domain and emergency upfloating, which comprises a submersible cabin, a land-sea cross-domain drive system, an emergency ballast system and a control box, the control box is installed in the middle and rear part of the submersible cabin;

[0006] The land-sea cross-domain drive system comprises a non-slip pulley set and a propeller set;

[0007] The anti-skid wheel set comprises a right front roller, a left front roller, a left rear roller, a right rear roller, a left transmission shaft, a right transmission shaft, a right side battery, a left side battery, a motor controller and a motor, the right front roller and the right rear roller are connected through the right transmission shaft, the left front roller and the left rear roller are connected through the left transmission shaft, the right side battery and the left side battery are connected with the motor through the motor controller respectively, the motor is used for driving the left transmission shaft and the right transmission shaft to rotate, and the motor controller is electrically connected with the control box;

[0008] The propeller set comprises a first propeller, a second propeller, a third propeller and a fourth propeller, the first propeller is arranged on the right upper side of the submersible cabin body, the propelling direction of the first propeller is along the upper left side of the submersible cabin body, the second propeller is symmetrically arranged with the first propeller along the center line of the submersible cabin body, the third propeller is arranged on the right rear lower side of the submersible cabin body, the propelling direction of the third propeller is along the rear left side of the submersible cabin body, the fourth propeller is symmetrically arranged with the third propeller along the center line of the submersible cabin body, and the first propeller, the second propeller, the third propeller and the fourth propeller are electrically connected with the control box.

[0009] The emergency ballast system comprises a ballast cabin, a high-pressure oxygen cylinder and a life support device, the ballast cabin is arranged on the inner lower side of the submersible cabin body, the ballast cabin is provided with a water inlet and a water outlet, the high-pressure oxygen cylinder and the life support device are arranged on the inner rear side of the submersible cabin body, a first branch, a second branch and a third branch are arranged on the output end of the high-pressure oxygen cylinder, the first branch and the second branch are connected with the input end of the ballast cabin, the third branch is connected with the input end of the life support device, the first branch is provided with a mechanical valve, the second branch and the third branch are provided with electromagnetic valves, and the electromagnetic valves are electrically connected with the control box.

[0010] As another improvement of the present application, it further comprises a cockpit, an operation table, a front sonar, a multi-source sensor, an illumination assembly, a camera assembly and a display screen, the cockpit is arranged on the inner upper side of the submersible cabin body, the operation table is installed on the inner front side of the cockpit, the display screen is installed on the front side of the operation table, the front sonar and the multi-source sensor are both installed on the front bottom of the submersible cabin body, the illumination assembly and the camera assembly are both installed on the front lower side of the submersible cabin body, and the operation table, the front sonar, the multi-source sensor, the illumination assembly, the camera assembly and the display screen are electrically connected with the control box.

[0011] As another improvement of the present application, a plurality of seats are arranged in the cockpit.

[0012] As another improvement of the present application, the illumination assembly comprises a plurality of illuminating lamps arranged on the front lower side of the submersible cabin body.

[0013] As another improvement of the present application, the camera assembly comprises two cameras arranged on the front lower side of the submersible cabin body.

[0014] As another improvement of the present application, a hatch cover is installed on the top of the cockpit, and a hatch cover switch and a hatch cover support arm are arranged on the hatch cover, the hatch cover is locked or unlocked through the hatch cover switch, and the hatch cover is opened or closed through the hatch cover support arm.

[0015] As another improvement of the present application, the cockpit is made of acrylic material.

[0016] As another improvement of the present application, it further comprises a first mechanical arm, a first rotary joint, a second mechanical arm, a second rotary joint and a mechanical chuck connected in sequence, the first mechanical arm is installed on the lower front side of the submarine cabin body, the second mechanical arm is rotationally connected with the first mechanical arm through the first rotary joint, the mechanical chuck is rotationally connected with the second mechanical arm through the second rotary joint, and the first rotary joint, the second rotary joint and the mechanical chuck are electrically connected with the control box.

[0017] As another improvement of the present application, the mechanical chuck is detachably connected with the second rotary joint.

[0018] As another improvement of the present application, a plurality of lifting hooks are installed on the top of the submarine cabin body.

[0019] The present application has the following beneficial effects:

[0020] By designing the land-sea cross-domain driving system, intelligent switching of the two sets of power systems of the anti-skid pulley set and the propeller set is realized, and autonomous transition from the beach to the deep water area can be realized; by designing the emergency ballast system, emergency floating can be realized by discharging the ballast water through the high-pressure oxygen cylinder, and manual and automatic fault detection dual-mode starting are supported. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 is a front view schematic diagram of the intelligent manned submersible equipment capable of realizing autonomous cross-domain and emergency floating.

[0022] Figure 2 is a rear view schematic diagram of the intelligent manned submersible equipment capable of realizing autonomous cross-domain and emergency floating.

[0023] Figure 3 is a side view schematic diagram of the intelligent manned submersible equipment capable of realizing autonomous cross-domain and emergency floating.

[0024] Figure 4 is a top view schematic diagram of the intelligent manned submersible equipment capable of realizing autonomous cross-domain and emergency floating.

[0025] Figure 5 is a perspective view schematic diagram of the intelligent manned submersible equipment capable of realizing autonomous cross-domain and emergency floating.

[0026] Figure 6is a schematic diagram of the position structure of the submersible cabin and ballast tank.

[0027] Figure 7 is a hoisting schematic diagram of the intelligent manned submersible equipment capable of realizing autonomous cross-domain and emergency floating.

[0028] Figure 8 is a schematic diagram of the anti-skid wheel set release stage.

[0029] Figure 9 is a schematic diagram of the anti-skid wheel set recovery stage. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the examples of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all the embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application. In the description of the present application, it should be noted that the positions indicated by the terms "up", "down", "left", "right", "first", "second", etc. are only the positional relationships based on the orientation shown in the drawings, and are only for the convenience of describing the present application, and therefore cannot be understood as indicating or implying that the components referred to have a specific orientation, are constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present application.

[0031] Specific implementation one: combined with Figures 1 to 9 In this embodiment, the intelligent manned submersible equipment capable of realizing autonomous cross-domain and emergency floating includes a submersible cabin 14, a land-sea cross-domain driving system, an emergency ballast system, and a control box 23, the control box 23 is installed at the middle and rear part inside the submersible cabin 14.

[0032] The land-sea cross-domain driving system includes an anti-skid wheel set and a propeller set.

[0033] The anti-skid wheel set includes a right front roller 5, a left front roller 6, a left rear roller 7, a right rear roller 8, a left transmission shaft 9, a right transmission shaft 10, a left side battery 11, a right side battery 12, a motor controller, and a motor 13 arranged at the bottom of the submersible cabin 14, the right front roller 5 and the right rear roller 8 are connected through the right transmission shaft 10, the left front roller 6 and the left rear roller 7 are connected through the left transmission shaft 9, the left side battery 11 and the right side battery 12 are respectively connected with the motor 13 through the motor controller, the motor 13 is used to drive the left transmission shaft 9 and the right transmission shaft 10 to rotate, and the motor controller is electrically connected with the control box 23; the right front roller 5, the left front roller 6, the left rear roller 7, and the right rear roller 8 are all polyurethane anti-skid rollers.

[0034] The thruster group comprises a first thruster 1, a second thruster 2, a third thruster 3 and a fourth thruster 4, the first thruster 1 is arranged on the right upper portion of the submersible cabin 14, the propelling direction of the first thruster 1 is along the left upper portion of the submersible cabin 14, the second thruster 2 is symmetrically arranged with the first thruster 1 along the center line of the submersible cabin 14, the third thruster 3 is arranged on the right rear lower portion of the submersible cabin 14, the propelling direction of the third thruster 3 is along the left rear portion of the submersible cabin 14, the fourth thruster 4 is symmetrically arranged with the third thruster 3 along the center line of the submersible cabin 14, the first thruster 1, the second thruster 2, the third thruster 3 and the fourth thruster 4 are electrically connected with the control box 23; only four thrusters are used to complete various movements of the submersible in the three-dimensional space underwater;

[0035] The emergency ballast system comprises a ballast tank 15, a high-pressure oxygen cylinder 16 and a life support device 17, the ballast tank 15 is arranged on the inner lower side of the submersible cabin 14, the ballast tank 15 is provided with a water inlet 18 and a water outlet 19, the high-pressure oxygen cylinder 16 and the life support device 17 are arranged on the inner rear side of the submersible cabin 14, a first branch, a second branch and a third branch are arranged on the output end of the high-pressure oxygen cylinder 16, the first branch and the second branch are connected with the input end of the ballast tank 15; the third branch is connected with the input end of the life support device 17, the first branch is provided with a mechanical valve, the second branch and the third branch are provided with electromagnetic valves, and the electromagnetic valves are electrically connected with the control box 23. The high-pressure oxygen cylinder is designed to provide oxygen in case of failure of the life support device, and to discharge ballast water to realize floating in the emergency floating stage.

[0036] The control box adopts The algorithm performs global path optimization, fast expansion random tree performs dynamic environment planning, and deep reinforcement learning is combined for autonomous decision-making, the algorithm realizes real-time sensing and analysis of the terrain, tidal current and obstacle, ensures that the submersible can intelligently select the optimal path and efficiently avoid obstacles; combined with the dynamic inverse model path tracking control algorithm, real-time state monitoring technology and robust control strategy, the submersible can stably complete the complex route, and ensure that the best heading and speed are maintained in the seabed environment; through data analysis and deep learning, the remaining battery capacity and endurance time of the submersible are predicted, and the stable and reliable energy supply of the submersible is ensured; the buoyancy of the submersible can be automatically adjusted through the motion controller combined with sensing information, and the stable water entry is ensured; the control box, as the multi-modal intelligent control center of the submersible, realizes cross-domain collaborative control, real-time safety detection and sightseeing experience control through the multi-source sensing fusion architecture and adaptive control algorithm cluster.

[0037] By designing a land-sea cross-domain driving system, intelligent switching between the two sets of power systems of the anti-skid wheel set and the propeller set is realized, and the autonomous transition from the beach to the deep water area can be achieved. By designing an emergency ballast system, the ballast water can be discharged through high-pressure oxygen cylinders to realize emergency floating, and manual and automatic fault detection dual-mode starting are supported. After reaching the flat seabed, the wheel set can be released again to realize seabed driving observation. The roller drive is equipped with a spring and a hydraulic auxiliary device to adapt to complex terrains such as beaches, and through the spring and hydraulic design, the impact of bumps on the submersible and equipment is reduced.

[0038] Specific implementation method two: combined Figures 1 to 9 In this embodiment, the difference between this embodiment and the specific implementation method one is that the driving cabin 39, the operation table 20, the front sonar 21, the multi-source sensor 22, the lighting assembly, the camera assembly, and the display screen 30 are arranged. The driving cabin 39 is arranged on the upper side of the inside of the submersible cabin body 14, the operation table 20 is arranged on the front side of the inside of the driving cabin 39, the display screen 30 is arranged on the front side of the operation table 20, the front sonar 21 and the multi-source sensor 22 are arranged on the front side and bottom of the submersible cabin body 14, and the lighting assembly and the camera assembly are arranged on the front side and bottom of the submersible cabin body 14. The operation table 20, the front sonar 21, the multi-source sensor 22, the lighting assembly, the camera assembly, and the display screen 30 are electrically connected with the control box 23. The operation table concentrates various basic function buttons of the submersible and supports one-key switching of various stage modes, which is convenient for operation. The multi-source sensor 22 integrates different types of sensors to monitor various data such as pressure, vibration, temperature, noise, and depth in real time, covers multi-dimensional data, complements sensor characteristics, improves detection accuracy and reliability, and meets complex environment and diversified detection requirements. The front sonar is combined with the Beidou satellite and the underwater acoustic beacon positioning to measure and map the seabed terrain in real time. The mature and efficient self-adaptive sliding mode control technology is adopted to adjust the control parameters according to the load change, cope with large amplitude disturbance and nonlinear ocean environment, and accurately maintain at the predetermined depth. The motion compensation algorithm can reduce the water flow bumping feeling and improve the comfort. The fault solution is concentrated to simplify the search process, speed up problem processing, optimize the knowledge base structure, set categories and tags, and provide convenient search functions. The other components and connection modes are the same as those of the specific implementation method one.

[0039] Specific implementation method three: combined Figures 1 to 9 In this embodiment, the difference between this embodiment and the specific implementation method one is that the driving cabin 39 is provided with a plurality of seats 36. The number of seats is preferably three. The seats are provided with safety belts and can seat three people. Compared with the existing manned submersible, the number of people carried is increased under the premise of controlling the cost. The other components and connection modes are the same as those of the specific implementation method one or two.

[0040] Specific implementation method four: combined Figures 1 to 9The embodiment is described, and the difference between the embodiment and the first specific embodiment is that the lighting assembly includes a lighting lamp 24 arranged at the lower part of the front side of the submersible cabin 14, and the lighting lamp 24 is arranged in multiple. The lighting lamp is divided into left lighting and right lighting, used for underwater lighting, improving underwater observation clarity, and reducing interference. The other components and connection modes are the same as any one of the first to third specific embodiments.

[0041] The fifth specific embodiment is combined Figures 1 to 9 The embodiment is described, and the difference between the embodiment and the first specific embodiment is that the camera assembly includes a first camera 28 and a second camera 29, and the first camera 28 and the second camera 29 are symmetrically arranged at the left and right sides of the lower part of the front side of the submersible cabin 14. The purpose of such design is to detect the underwater situation in real time. The other components and connection modes are the same as any one of the first to fourth specific embodiments.

[0042] The sixth specific embodiment is combined Figures 1 to 9 The embodiment is described, and the difference between the embodiment and the first specific embodiment is that the top of the cockpit 39 is provided with a hatch 40, and the hatch 40 is provided with a hatch switch 41 and a hatch support arm 42. The hatch 40 is locked or unlocked through the hatch switch 41, and the hatch 40 can be opened or closed through the hatch support arm 42. It is used for personnel access, pressure resistance, and strong water tightness. The other components and connection modes are the same as any one of the first to fifth specific embodiments.

[0043] The seventh specific embodiment is combined Figures 1 to 9 The embodiment is described, and the difference between the embodiment and the first specific embodiment is that the cockpit 39 is made of acrylic material. The purpose of such design is that it has very high light transmittance, is convenient for observing and investigating underwater scenes, has strong tensile and impact resistance, and ensures safety. The ecological lighting system and the panoramic side window are assembled, which improves underwater observation clarity and reduces ecological interference. The other components and connection modes are the same as any one of the first to sixth specific embodiments.

[0044] The eighth specific embodiment is combined Figures 1 to 9The embodiment is different from the first embodiment in that it further comprises a first rotary joint 33, a first mechanical arm 31, a second rotary joint 34, a second mechanical arm 32 and a mechanical clamp 35 connected in sequence. The first rotary joint 33 is installed at the lower front side of the submersible cabin 14. The first mechanical arm 31 is rotatably installed at the lower front side of the submersible cabin 14 through the first rotary joint 33. The second mechanical arm 32 is rotatably connected with the first mechanical arm 31 through the second rotary joint 34. The mechanical clamp 35 is connected with the second mechanical arm 32. The first rotary joint 33, the second rotary joint 34 and the mechanical clamp 35 are electrically connected with the control box 23. The design has the effect of supporting the seabed sample collection and equipment operation. The other components and connection modes are the same as those in any one of the first to seventh embodiments.

[0045] The ninth embodiment is combined with the first embodiment. Figures 1 to 9 The ninth embodiment is combined with the first embodiment.

[0046] The tenth embodiment is combined with the first embodiment. Figures 1 to 9 The tenth embodiment is combined with the first embodiment.

[0047] The tenth embodiment is combined with the first embodiment. ​ The working principle of the present application is as follows:

[0048] First, rotate the hatch switch to open the hatch, the passenger enters the manned cabin and sits down, and fastens the seat belt; through the operation table to start the system self-checking program, confirm that the oxygen generator of the life support device is normal and stored in the high-pressure oxygen cylinder, and the power system and multi-source sensor are initialized, then the hatch is automatically closed; thus entering the ground moving stage, starting the motor drive polyurethane anti-skid wheel set through the operation table to drive into the shoal, the spring and hydraulic design can better adapt to the sand terrain; when the multi-source sensor detects the desired depth, enter the shoal transition stage, discharge part of the ballast water for buoyancy adjustment, and start the thruster for forward and turning motion, after leaving the shoal, the wheel set is automatically retracted to complete the water entry switching stage; the next is the diving into the sea stage, after setting the target depth and sightseeing path through the operation table, the self-adaptive sliding mode algorithm adjusts the ballast water amount in real time to realize accurate depth setting, the A* global path planning cooperates with the rapid expansion random tree dynamic obstacle avoidance algorithm to control the thruster to maintain the sailing posture, after reaching the flat seabed, the wheel set is released again to realize the seabed driving observation, at this time, the mechanical arm can be controlled through the operation table to perform sample collection, and the lighting system cooperates with the camera to project to the display screen and the front sonar to measure and map the seabed terrain to realize real-time observation; after receiving the task instruction to return to the shore, the ballast water can be gradually discharged through the operation table, and the thruster assists the propulsion to rise, the submarine drives to the shore on the water surface, repeats the shoal transition stage and the ground moving stage, and completes the recovery.

[0049] The above embodiments are only used to illustrate the technical solutions of the present application, but not limit it; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced by equivalent ones; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. An intelligent manned diving equipment capable of autonomous cross-domain operation and emergency ascent, characterized in that... It includes a submersible hull (14), a land-sea cross-domain drive system, an emergency ballast system, and a control box (23), which is installed in the middle and rear part of the submersible hull (14); The land-sea cross-domain drive system includes anti-slip wheel sets and propulsion sets; The anti-slip wheel assembly includes a right front roller (5), a left front roller (6), a left rear roller (7), a right rear roller (8), a left drive shaft (9), a right drive shaft (10), a left battery (11), a right battery (12), a motor controller, and a motor (13) located at the bottom of the submersible hull (14). The right front roller (5) and the right rear roller (8) are connected by the right drive shaft (10), the left front roller (6) and the left rear roller (7) are connected by the left drive shaft (9), the left battery (11) and the right battery (12) are connected to the motor (13) through the motor controller, and the motor (13) is used to drive the left drive shaft (9) and the right drive shaft (10) to rotate. The motor controller is electrically connected to the control box (23). The thruster assembly includes a first thruster (1), a second thruster (2), a third thruster (3), and a fourth thruster (4). The first thruster (1) is located on the upper right side of the submersible hull (14), and the thrusting direction of the first thruster (1) is along the upper left side of the submersible hull (14). The second thruster (2) is symmetrically arranged with the first thruster (1) along the center line of the submersible hull (14). The third thruster (3) is located on the lower right rear side of the submersible hull (14), and the thrusting direction of the third thruster (3) is along the left rear side of the submersible hull (14). The fourth thruster (4) is symmetrically arranged with the third thruster (3) along the center line of the submersible hull (14). The first thruster (1), the second thruster (2), the third thruster (3), and the fourth thruster (4) are all electrically connected to the control box (23). The emergency ballast system includes a ballast tank (15), a high-pressure oxygen cylinder (16), and a life support device (17). The ballast tank (15) is located inside the lower side of the submersible hull (14). The ballast tank (15) is equipped with an inlet (18) and an outlet (19). The high-pressure oxygen cylinder (16) and the life support device (17) are both located inside the rear side of the submersible hull (14). The output end of the high-pressure oxygen cylinder (16) is equipped with a first branch, a second branch, and a third branch. The first branch and the second branch are connected to the input end of the ballast tank (15). The third branch is connected to the input end of the life support device (17). The first branch is equipped with a mechanical valve. The second branch and the third branch are equipped with solenoid valves. The solenoid valves are electrically connected to the control box (23).

2. The intelligent manned diving equipment capable of autonomous cross-domain operation and emergency ascent as described in claim 1, characterized in that... It also includes a cockpit (39), a control panel (20), a forward sonar (21), a multi-source sensor (22), a lighting assembly, a camera assembly, and a display screen (30). The cockpit (39) is located on the upper side inside the submersible hull (14). The control panel (20) is installed on the front side inside the cockpit (39). The display screen (30) is installed on the front side of the control panel (20). The forward sonar (21) and the multi-source sensor (22) are both installed on the bottom front side of the submersible hull (14). The lighting assembly and the camera assembly are both installed on the lower front side of the submersible hull (14). The control panel (20), the forward sonar (21), the multi-source sensor (22), the lighting assembly, the camera assembly, and the display screen (30) are all electrically connected to the control box (23).

3. The intelligent manned diving equipment capable of autonomous cross-domain operation and emergency ascent according to claim 2, characterized in that, The cockpit (39) has multiple seats (36).

4. The intelligent manned diving equipment capable of autonomous cross-domain operation and emergency ascent according to claim 2, characterized in that, The lighting assembly includes a number of lights (24) located on the lower front side of the submersible hull (14).

5. The intelligent manned diving equipment capable of autonomous cross-domain operation and emergency ascent according to claim 2, characterized in that, The camera assembly includes a first camera (28) and a second camera (29), which are symmetrically arranged on the left and right sides of the lower front part of the submersible hull (14).

6. The intelligent manned diving equipment capable of autonomous cross-domain operation and emergency ascent according to claim 2, characterized in that, The top of the cockpit (39) is equipped with a hatch (40), which has a hatch switch (41) and a hatch support arm (42). The hatch (40) can be locked or unlocked by the hatch switch (41) and opened or closed by the hatch support arm (42).

7. The intelligent manned diving equipment capable of autonomous cross-domain operation and emergency ascent according to claim 2, characterized in that, The cockpit (39) is made of acrylic material.

8. The intelligent manned diving equipment capable of autonomous cross-domain operation and emergency ascent as described in claim 1, characterized in that... It also includes a first rotary joint (33), a first robotic arm (31), a second rotary joint (34), a second robotic arm (32), and a mechanical chuck (35) connected in sequence. The first rotary joint (33) is installed on the lower front side of the submersible hull (14). The first robotic arm (31) is rotatably installed on the lower front side of the submersible hull (14) through the first rotary joint (33). The second robotic arm (32) is rotatably connected to the first robotic arm (31) through the second rotary joint (34). The mechanical chuck (35) is connected to the second robotic arm (32). The first rotary joint (33), the second rotary joint (34), and the mechanical chuck (35) are all electrically connected to the control box (23).

9. The intelligent manned diving equipment capable of autonomous cross-domain operation and emergency ascent according to claim 8, characterized in that, The mechanical gripper (35) is detachably connected to the second robotic arm (32).

10. The intelligent manned diving equipment capable of autonomous cross-domain operation and emergency ascent according to claim 1, characterized in that, Multiple hooks (43) are installed on the top of the submersible hull (14).

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