42 results about "Buoyancy regulation" patented technology

This invention discloses a passive buoyancy compensation method using gas-liquid mixing for profiling buoys, belonging to the field of buoyancy adjustment technology for marine observation buoys. This method constructs a passive buoyancy compensation system containing gas and liquid chambers, and adjusts the gas-liquid volume ratio to achieve linear and continuous adjustment of the system's equivalent compressibility coefficient, dynamically matching the compression characteristics of seawater at different depths. A mathematical model of the overall force on the buoy is established to determine system design parameters. Sensors are deployed to collect buoy depth and axial acceleration data, calculate motion parameters, predict and estimate the depth, and compare it with the target depth. When the deviation threshold is exceeded, an active fine-tuning judgment process is initiated. Active adjustment is disabled during the inertial-dominated phase, and during the non-inertial phase, the controller sends a fine-tuning command to the active buoyancy system to execute reverse buoyancy adjustment. The passive buoyancy compensation method using gas-liquid mixing provided by this invention can achieve low-power buoyancy control with passive adjustment as the primary method and active adjustment as a secondary method, effectively extending the underwater operational life of the buoy.

1. Name of the product in this design: Buoyancy Adjustment Device. 2. Purpose of this design: To provide variable buoyancy for buoys. 3. The key design features of this product are its shape and the combination of shape and color. 4. The image or photograph that best illustrates the design's key points: 3D view 1. 5. The design for which protection is sought includes color.

The application discloses a kind of coastal groundwater-surface water monitoring sampling device and experimental method of adaptation tidal fluctuation, including carrying platform, amphibious mobile track system located below carrying platform, positioning navigation system located on carrying platform, buoyancy adjusting wing plate system symmetrically located on the both sides of carrying platform, groundwater monitoring sampling system located on carrying platform, surface water monitoring sampling system located on carrying platform, sample separation and preservation system located in carrying platform, visual monitoring system located on carrying platform and control system located in carrying platform, wherein control system is respectively electrically connected with amphibious mobile track system, positioning navigation system, buoyancy adjusting wing plate system, groundwater monitoring sampling system, surface water monitoring sampling system, sample separation and preservation system and visual monitoring system.The application realizes synchronous, layered sampling of groundwater and surface water at different sites in coastal zone within full tidal cycle.

The application discloses an intelligent lifting type culture net cage integrated with environment sensing and adaptive depth adjustment, and belongs to the technical field of marine culture devices. The net cage main body comprises main columns and a net cover. The main columns are provided in plurality. A connecting rod is arranged between the side portions of two adjacent main columns. The periphery of the net cover is supported and tensioned by the main columns to form a closed culture space. A buoyancy adjusting mechanism is connected with the bottom of the main column and is used for adjusting the overall buoyancy of the net cage main body to vertically lift. A mooring positioning mechanism is connected with the buoyancy adjusting mechanism and is used for anchoring the net cage main body in a predetermined sea area and adapting the vertical lifting movement of the net cage main body. An environment sensing module is installed on the net cage main body. An intelligent control module is electrically connected with the environment sensing module and the buoyancy adjusting mechanism. The intelligent control module is internally provided with a decision algorithm, is used for receiving the data collected by the environment sensing module, and outputs a control instruction to the buoyancy adjusting mechanism according to a preset strategy to adaptively adjust the water depth where the net cage main body is located.

The present application relates to the technical field of ecological environment management, in particular to an ecological floating bed water purification device, which comprises a hollow structure floating bed frame and a floating bed tank body arranged in the floating bed frame, the floating bed frame is provided with a buoyancy adjusting assembly for adjusting the draft of the whole floating bed; the floating bed frame is connected with the floating bed tank body through a traction assembly, the traction assembly is used for making the floating bed tank body move linearly upward along the gravity direction; the floating bed frame is also provided with a water exchange assembly, the water exchange assembly is used for guiding the deep water to the surface layer to realize the exchange of the water in the vertical direction; the floating bed frame is also provided with a fixing anchor for fixing the whole floating bed; the technical problem that the ecological floating bed in the prior art has certain limitations and a small application range is solved.

The application discloses a trim buoyancy adjusting device, and belongs to the technical field of underwater vehicle structure design. The device comprises an oil pump unit and a spring piston low-pressure compensator installed in a closed oil tank, an electrical controller, an oil cylinder control hydraulic valve group, a double-acting seawater piston cylinder and a seawater flow distribution valve group installed in an equipment pressure cabin, the trim buoyancy adjusting device is installed outside a cabin of the vehicle and is placed in seawater or a pressure cabin, when the vehicle is launched, the oil pump unit drives the double-acting seawater piston cylinder through the oil cylinder control hydraulic valve group, and then seawater is injected into the pressure water cabin or seawater in the pressure water cabin is discharged to the outside of the cabin through the seawater flow distribution valve group, so that the buoyancy of the vehicle is adjusted, when the trim buoyancy adjusting device is connected with a stern pressure water cabin and a bow pressure water cabin of the vehicle, the trim buoyancy adjusting device adjusts seawater between the stern pressure water cabin and the bow pressure water cabin or outside the cabin, so that the trim of the vehicle is adjusted.

The present invention relates to fishing supplies, specifically an adjustable buoyancy fishing float. At present, when faced with lead sinkers, fishhooks and baits of different weights, fishing floats sometimes fail to float, or float up excessively high, making it difficult to determine whether a fish has bitten. The objective of the present invention is to provide an adjustable buoyancy fishing float that provides a relatively wide buoyancy adjustment range and eliminates the need for lead trimming during float adjustment. The technical solution of the present invention is as follows: comprising a float tail, a float body, a float foot, etc. A cylinder, a piston, a piston ring, etc. are provided within the float body; the piston is connected to the float tail, and a penetrating through-hole runs from the float body, through the cylinder, the piston, etc. to the float tail. The volume of the cylinder can be adjusted by pressing or pulling the float tail, the float tail having scale numbers marked thereon. Two ends of the cylinder inside the float body are filled with a lightweight material. A sealing gasket is provided at the contact point between the float tail and the float body to prevent water from entering the cylinder. In a luminous float based on the present adjustable buoyancy fishing float, a battery compartment, a luminous light, etc. are arranged on the float tail. The present invention has the beneficial effects of providing a relatively wide buoyancy adjustment range, involving simple buoyancy adjustment, and eliminating the need for lead trimming during float adjustment.

The application discloses a turbid water area pier detection robot and a detection method. The robot body comprises a horizontal vector propeller arranged in a ring shape and a vertical propeller arranged symmetrically. The submersion control module comprises a Doppler flowmeter, an inertial measurement unit, a depth sensor and a pressure gradient sensing array. The wall-adhesion adsorption walking mechanism is arranged on the abdomen of the robot body and comprises a flexible adaptive wheel set and a positive adsorption device. The multi-mode fusion sensing module comprises a multi-beam imaging sonar, a structured light emitting device, an underwater camera and a turbidity sensor. The variable buoyancy adjusting module comprises a buoyancy adjusting cabin, a driving pump and a control circuit and is used for dynamically adjusting the net buoyancy of the robot according to the water depth and the water density change. Through the sonar-structured light combined imaging, high-precision imaging is realized, the full-dimension self-adaptation from the buoyancy adjustment, the flow resistance and the sensing mode switching is realized, and the efficiency and the safety of the detection operation are improved.

This utility model discloses a dual-chamber buoyancy variable resistance dumbbell suitable for underwater training, belonging to the technical field of underwater training equipment. It includes a resistance adjustment unit and a buoyancy adjustment unit. The resistance adjustment unit includes a resistance-increasing plate and a dumbbell shell. A spring telescopic rod is rotatably mounted through one side of the dumbbell shell. A knob is fixedly mounted at one end of the spring telescopic rod, and a volute plate is fixedly mounted at the other end. When the athlete performs underwater dumbbell training, pulling the knob outward disengages the locking block from the locking ring. Then, rotating the knob causes the spring telescopic rod and the volute plate to rotate together. The volute plate has a volute-shaped groove inside. When the volute plate rotates, the volute-shaped groove interacts with the round rod, causing the resistance-increasing plate to expand outward or retract inward. By adjusting the extension length of the resistance-increasing plate, the magnitude of water resistance experienced during underwater resistance training can be adjusted.

The application discloses a movable operation platform in water with adjustable buoyancy and relates to the field of water operation equipment. The movable operation platform in water with adjustable buoyancy comprises a beach sitting platform, guide columns, buoyancy adjusting boxes and a top platform, the upper ends of the guide columns are connected with the top platform, the lower ends of the guide columns are connected with the beach sitting platform, the buoyancy adjusting boxes are arranged between the guide columns and can move up and down along the axial direction of the guide columns. The application realizes dynamic control of the overall buoyancy of the movable operation platform in water by adjusting the immersion depth of the buoyancy adjusting boxes. The movable operation platform in water can adapt to different water depths and load conditions, and the problem of excessive sinking or insufficient buoyancy of a traditional platform is avoided.

This invention relates to the field of heavy-duty transport airship technology, providing a buoyancy adjustment device, a heavy-duty transport airship, a cargo loading method, and a cargo unloading method. The adjustment device includes: multiple water bladders, a main water injection pipe, a main water discharge pipe, and multiple branch pipes, each branch pipe including a drainage branch pipe and a water injection branch pipe. The main drainage pipe and the main water injection pipe are parallel to the axis of the heavy-duty transport airship and located on both sides of the axis. The multiple water bladders are arranged on both sides of the main drainage pipe and the main water injection pipe, along the axis of the heavy-duty transport airship. Each water bladder includes a water injection port, a water discharge port, and two valves, which are respectively located on the water injection port and the water discharge port. The water injection port is connected to the main water injection pipe through a water injection branch pipe, and the water discharge port is connected to the main drainage pipe through a drainage branch pipe. This solution can simultaneously achieve buoyancy and attitude coupling adjustment for loading and unloading heavy-duty airships, thereby solving the problems of balance stability and safety reliability during the loading and unloading of heavy cargo.

The application relates to an underwater glider with retractable linkage wings, and relates to the technical field of underwater autonomous underwater vehicles. The glider comprises a main body structure, a buoyancy adjusting assembly, a four-bar linkage skin wing assembly and a double-screw rod linkage driving assembly. The main body structure serves as the installation base of the whole machine; the buoyancy adjusting assembly realizes counterweight adjustment by injecting and discharging seawater through a syringe; the four-bar linkage skin wing assembly adopts a six-bar linkage hinged mechanism matched with a pressure-resistant skin to realize reliable contraction and expansion of the wing; the double-screw rod linkage driving assembly adopts a double-head screw rod motor to synchronously drive double screw rods, and linkage controls the buoyancy adjustment and wing movement. The design solves the problems of the existing equipment, such as complex structure, high energy consumption and poor synchronism, and has the advantages of compact and stable wing contraction, efficient and energy-saving double-mechanism linkage, precise control, durable structure and the like, and can adapt to the operation requirements of various underwater environments.

This utility model proposes a buoyancy adjustment device for the deployment and retrieval of an unmanned aerial vehicle (UAV), including a support assembly. The support assembly has an overall rectangular frame structure and is open upwards and backwards. It also includes a front buoyancy adjustment assembly, a first intermediate buoyancy adjustment assembly, a second intermediate buoyancy adjustment assembly, and a rear buoyancy adjustment assembly symmetrically distributed on both sides of the support assembly. A head buoyancy adjustment assembly is installed at the front end of the support assembly, and a tail buoyancy adjustment assembly is installed at the rear end. Each buoyancy adjustment assembly adjusts buoyancy by controlling the water volume, thus enabling the support assembly to rise and sink. A towing component is also installed at the front end of the support assembly. This achieves the technical effects of precise buoyancy adjustment, rapid draft adjustment, and stable and safe deployment and retrieval operations.

This invention provides a buoyancy-assisted model water tank spatial partitioning and water depth adjustment device, installed inside the model water tank. It includes: a movable frame module: horizontally positioned inside the model water tank; a partition module: including at least one partition plate, movably mounted within the movable frame module to partition the model water tank; the partition plate is hollow, with an inlet and an outlet, each connected by a water pipe. Water is injected into the partition plate through the inlet and drained through the outlet, changing the buoyancy of the partition plate and adjusting its position within the model water tank; and a positioning module: connected to the movable frame module to fix the movable frame module inside the model water tank. This invention uses partition plates to alter the effective water volume and hydrodynamic environment of the model water tank, avoiding the time and water waste caused by frequent water filling and draining operations. It also reduces heat exchange between the upper and lower water bodies, improving experimental efficiency and ensuring operational convenience and safety during model testing.

A pool cleaning robot and a control method therefor are disclosed. The pool cleaning robot includes a robot body, a buoyancy adjustment unit, and a first driving unit. The buoyancy adjustment unit and the first driving unit are arranged on the robot body or connected to the robot body. The buoyancy adjustment unit is provided to enable the pool cleaning robot to move back and forth between a water surface and a liquid-submerged surface. When the pool cleaning robot floats up to the water surface under the action of the buoyancy adjustment unit, the first driving unit is configured to drive the pool cleaning robot to move on the water surface. The pool cleaning robot of the present disclosure is provided with the buoyancy adjustment unit, which can increase or decrease the weight of the pool cleaning robot, such that the pool cleaning robot automatically floats up or dives down.

The application provides a deformable wheel-leg amphibious quadruped robot and a motion control method thereof. The robot body adopts a symmetrical quadruped layout, each leg is a group of deformable wheel-leg mechanisms, the deformable wheel-leg mechanism adopts a reconfigurable five-link structure and can be switched between a wheel mode, a land leg mode and an aquatic leg mode; the robot further comprises coaxial nested transmission mechanisms for driving two active rods respectively, a control system for realizing mode switching and gait control, and an open water-filling buoyancy adjusting system for underwater operation. The application can meet the requirements of land rolling, land obstacle crossing and underwater propulsion, has the characteristics of compact structure, flexible mode switching and suitability for amphibious environment operation.

The application discloses a surface-submarine dual-mode marine unmanned vehicle, which comprises a ship body structure, a sailing sail, a sail lifting device and a buoyancy adjusting system. A receiving groove is formed in the upper part of the ship body structure along a longitudinal central axis. The sailing sail is installed in the receiving groove through the sail lifting device. The lifting device drives the transmission connecting rod and the hinge shaft through a power source, so that the sailing sail is switched between a vertical position and a horizontal position. When in the horizontal position, the sailing sail is wholly received in the groove, and the exposed surface thereof is smoothly connected with the ship body line. The buoyancy adjusting system is used for realizing the switching between the water surface mode and the submarine mode. Through the line fusion design of the sail and the ship body, the application remarkably reduces the fluid resistance during submarine navigation, improves the navigation stability and energy efficiency, and solves the problems of large resistance and difficult attitude control of the existing cross-medium vehicle during mode switching.

This invention discloses an attitude control fixture and deployment method for temperature-salinity profile observation. The fixture includes a fixture body, a transversely arranged sensor mounting position, at least two longitudinal cable channels orthogonal to the mounting position and symmetrically arranged about the neutral plane, an array of through-holes (open area ratio 15%–35%) disposed in the connecting section, and a buoyancy adjustment unit for balancing. During assembly, the geometric center line of the cable channel is aligned with the transverse center line of the sensor, with a transverse distance difference Δ ≤ 3 mm; the minimum spatial isolation distance d between the sensor sensitive area and the nearest cable channel is ≥ 25 mm, and a shielding ring and insulating partition can be used to suppress electromagnetic interference. The buoyancy adjustment unit controls the net buoyancy of the system |Fn| within a range not exceeding 5% of the component's wet weight through a sliding float and / or counterweight.

A flapper assembly for a flush valve as well as method of assembly are provided. The flapper assembly includes a frame and multiple buoyancy assemblies attachable to the frame so as to adjust the buoyancy of the flapper assembly. The flapper assembly kit may have adjustable legs attachable to the frame. The flapper assembly kit may have multiple seal members for use in sealing with different sized / shaped valve seats of different sized flush valves.

A deep-sea lander suitable for rapid stable deployment and a deployment recovery method, comprising a bottom configuration, both ends of which are provided with side plates, the side plates comprising folding side plates and opening and closing side plates, the opening and closing side plates being connected with the bottom configuration through a rotating shaft, the top surfaces of the two folding side plates being connected and fixed through connecting hinges and wing plate fixing mechanisms, both side surfaces of the bottom configuration being respectively provided with side configurations, the upper part of the side configuration being a folding triangular plate; a channel is arranged at the lower part of the outer part of both ends of the bottom configuration, and a propeller is arranged; the opening and closing mechanism for controlling the opening and closing of the opening and closing side plates is further included, a carrying frame is arranged in the bottom configuration, a battery is arranged at the bottom of the carrying frame through an explosive bolt, buoyancy adjusting cabins are arranged at both sides of the carrying frame, a buoyancy adjusting pump, a multi-beam sonar and an altimeter are arranged at one side of the carrying frame, a control tank is arranged at the other side of the carrying frame, and a buoyancy material is arranged at the top surface of the carrying frame, the whole has good working stability and a high safety factor.

This invention discloses a biomimetic robot and system for deep-sea mining. The biomimetic robot includes: a biomimetic shell, a docking and gripping mechanism, a control unit, an energy module, a buoyancy adjustment mechanism, and a power unit. The energy module is located in the body and supplies power to the control unit, docking and gripping mechanism, buoyancy adjustment mechanism, and power unit. The control unit is located in the body and is responsible for receiving feedback from the docking and gripping mechanism and issuing control commands. The buoyancy adjustment mechanism includes a pressure-resistant buoyancy adjustment chamber on the outside of the body, which can adjust the water volume inside the chamber according to control signals to achieve buoyancy adjustment. The power unit consists of biomimetic wave-shaped fins symmetrically arranged on both sides of the body and a water jet propulsion unit built into the body with its outlet located at the tail, providing propulsion for the device. The docking and gripping mechanism is installed on the outer wall of the body and can grip the mineral load chamber according to control commands and report the gripping status to the control unit.

This utility model discloses an adjustable buoyancy bionic fish, including a shell, a buoyancy adjustment component, a center of gravity adjustment component, and a control module. The shell has the shape of a bionic fish. The buoyancy adjustment component is located at the lower end inside the shell and is used to inject or discharge water into the shell, adjusting buoyancy by utilizing changes in gravity. The center of gravity adjustment component is located on the buoyancy adjustment component and is used to adjust the posture changes caused by instability of the center of gravity when water is injected or discharged from the shell. The center of gravity adjustment component can keep the center of gravity stable, avoiding significant changes in the overall shape of the bionic fish. This device, through two sets of mutually symmetrical buoyancy adjustment components, can simultaneously inject water to submerge or discharge water to rise, ensuring the stability of the overall center of gravity during buoyancy adjustment while accelerating the adjustment rate and quickly achieving height adjustment.

This utility model relates to the field of marine water quality testing technology, and particularly to an underwater suspension mechanism for maintaining the stable attitude of a sensor, comprising: a housing (1), a wire (18), a detection unit (19), and multiple buoyancy adjustment components disposed on the outside of the housing (1); each of the buoyancy adjustment components includes a buoyancy box (3) and a telescopic mechanism (2) connected to the buoyancy box (3) and the housing (1), wherein the telescopic mechanism (2) is used to adjust the position of the buoyancy box (3) relative to the housing (1) to change the support area of ​​the underwater suspension mechanism; an air bladder (8) is disposed inside the buoyancy box (3), and the buoyancy of the buoyancy box (3) is changed by adjusting the volume of water inside the air bladder (8), thereby adjusting the center of gravity and attitude of the underwater suspension mechanism.

The utility model discloses a kind of floating type flexible photovoltaic support equipment, it is related to photovoltaic equipment technical field.The utility model includes L-shaped section steel, buoy, lock piece, chuck, fixed angle iron and fixed frame;The fixed frame inner frame is cross support design, the number of L-shaped section steel is four.The utility model is by L-shaped section steel using L-shaped section design, effectively enhances structure bending stiffness, provides stable support platform for photovoltaic module;Fixed frame is with inner frame cross support design optimization stress distribution, disperses photovoltaic module load, prolongs overall structure service life;Fixed angle iron cross connection four sides L-shaped section steel, form rigid frame, significantly improve equipment wind and wave resistance ability;Buoy is balanced buoyancy distribution of different water depth by buoyancy adjusting system, adapt to depth variation under complex hydrographic environment;The clamping plate of its top and the clamping groove sliding clamping of U-shaped lock piece, while achieving quick positioning and height adjustment, provide transverse limiting function.

The application relates to an unmanned underwater vehicle buoyancy adjusting device and adjusting method, and belongs to the technical field of unmanned underwater vehicles.The application is used to solve the problems of the prior art, such as complex device structure and high energy consumption of the underwater vehicle buoyancy adjusting device, narrow underwater operation space, difficult pipeline connection, low buoyancy adjusting efficiency in a shallow water environment, strong limitations and the like caused by the influence of waves and water flow on the water surface, and the like.The application comprises a pressure cabin, the pressure cabin is divided into an electrical cabin and a ballast water cabin connected with the electrical cabin, a buoyancy adjusting pump, an integrated valve group module and a control module are arranged in the electrical cabin, the control module controls the action of the buoyancy adjusting pump, water is injected into or drained from the ballast water cabin through the integrated valve group module, the weight of the unmanned underwater vehicle is changed, and posture adjustment and suspended depth control operation during the navigation of the unmanned underwater vehicle are completed.The application is used for the buoyancy adjustment of the unmanned underwater vehicle.

The present application relates to underwater vehicle control technology field, specifically to a kind of exhaust-free underwater variable volume buoyancy adjusting system and control method, including power and controller in control cabin and air pump, high-pressure power bottle, low-pressure recovery bottle, buoyancy adjusting dry cabin with servo cylinder and watertight piston cover, valve group and pressure sensor, each component is connected by pipeline and cable closed loop;When working, servo cylinder drives piston to change dry cabin volume to adjust displacement volume, gas only circulates between high-pressure power bottle, dry cabin, low-pressure recovery bottle without emission;PID control is realized to achieve precise hovering, and core component is adapted to underwater high pressure, corrosion working condition using corrosion-resistant and pressure-resistant material.The present application gas zero loss prolongs endurance, no bubble improves concealment, and adjustment accuracy reaches millimeter level, suitable for deep sea exploration, military reconnaissance and other scenes.

The application discloses a gliding and swimming dual-mode AUV and a design method thereof. The AUV comprises deformable gliding wings arranged on both sides of a pressure-bearing shell, capable of being unfolded to provide lift in a gliding mode and being folded to reduce fluid resistance in a swimming mode; a buoyancy adjusting system comprising an outer oil bag, front and rear buoyancy adjusting oil tanks and a buoyancy adjusting power module, used for dynamically adjusting the buoyancy and the gravity center position of the AUV through oil transfer; and a vector propulsion module arranged at the tail of the AUV, comprising a propeller capable of being adjusted at two degrees of freedom and a guide plate matched with the propeller, used for providing direction control capability in the gliding mode. The AUV simultaneously has a tail vector propulsion device, two sets of buoyancy adjusting oil tanks distributed at front and rear positions in the pressure-bearing shell and deformable gliding wings arranged on both sides of the AUV main body, so that the AUV has two operation modes of gliding by buoyancy and swimming with neutral buoyancy, and can be flexibly switched according to operation tasks.

This utility model provides an environmental monitoring and automatic floating / sinking cage for marine aquaculture production and modification, relating to the field of marine aquaculture equipment technology. It includes a buoyancy adjustment module, an environmental monitoring module, a control module, and a battery module. The buoyancy adjustment module comprises a variable airbag and fixed floats. The fixed floats are evenly distributed on the upper part of the cage, and the variable airbag is positioned on one side of the cage, between the fixed floats, and connected to an air pump. The environmental monitoring module is connected to the control module to receive detection information, and the control module is connected to the air pump. The battery module is connected to the environmental monitoring module, the control module, and the air pump. A multi-sensor real-time monitoring system constructs a precise environmental sensing network. Temperature sensors comprehensively collect water temperature data, eliminating interference from local temperature differences; pressure sensors calculate depth in real time using water pressure formulas; flow velocity sensors monitor flow velocities at different water layers; and level sensors capture the water level depth at the cage's location in real time.

This application discloses a concealed intelligent master-slave buoy system and its cooperative control method. The system includes: a master buoy and at least one sub-buoy; the master buoy is communicatively connected to each sub-buoy; the master buoy is used to charge each sub-buoy at a fixed position and send scheduling tasks; the sub-buoys are used to navigate to a target area while maintaining concealment, execute scheduling tasks, and return to the master buoy for charging; the master buoy includes a low-profile concealed hull, an energy management unit, an anchoring unit, a communication and computing unit, and at least one charging dock; the energy management unit is disposed within the low-profile concealed hull and is used to collect and store energy; each charging dock is disposed on the low-profile concealed hull and establishes a charging connection with the sub-buoys; the anchoring unit is used to anchor the master buoy at a fixed position; each sub-buoy includes a submersible concealed hull, a power and buoyancy adjustment unit, a control unit, a sensor unit, a communication unit, and a docking and charging interface.