2528 results about "Underwater vehicle" patented technology

The invention provides an underwater vehicle multi-source information fusion accurate navigation method and system. The method comprises the following steps: firstly, acquiring inertial navigation data, DVL data and ocean current information of an underwater vehicle and observation information of a distance between the underwater vehicle and a beacon, and preprocessing the inertial navigation data, the DVL data and the ocean current information; then, establishing a state model according to the kinematics principle of the underwater vehicle, and establishing an observation model by combining various types of information; carrying out fusion processing on the state model and the observation model by adopting a self-adaptive Kalman filtering algorithm; and finally, estimating the current position of the underwater vehicle according to the fused state vector, comparing the current position with a preset target position to calculate a deviation, and correcting the deviation by adjusting a rudder angle and the rotating speed of a propeller. According to the method, multi-source information is integrated, innovation is carried out on construction of a state model and an observation model and position estimation and deviation correction, adaptive Kalman filtering is adopted, and the method has the advantages that the navigation precision is improved, the ocean current influence is considered, adaptive adjustment is realized, and real-time navigation is realized.

The invention discloses a super-long water tunnel defect underwater positioning device and method, and the method comprises the steps: obtaining multi-source sensor data of an underwater vehicle, and carrying out the time synchronization and preprocessing of the data; establishing an acoustic environment feature model, identifying strong reflective identification information, and updating environment parameters; the dynamic weight of each data source is calculated, data consistency check is carried out, and multi-source data fusion is executed; performing trajectory optimization on a fusion positioning result, executing identification point constraint processing, and performing backtracking correction on a historical trajectory; and performing multiple verification and uncertainty evaluation on the positioning result. According to the method, through multi-source data fusion and a multi-level optimization strategy, the problems of multipath effect, thermocline influence, inertial navigation accumulative errors and image quality in a complex underwater environment are effectively solved, and high-precision positioning in the ultra-long water delivery tunnel is realized.

The invention relates to an underwater image processing technology in the field of underwater autonomous perception, in particular to an underwater low-quality image enhancement method based on a Laplacian pyramid and contrast learning. Comprising the following steps: S1, image input and multi-scale decomposition: decomposing an input image into a low-frequency residual layer and a plurality of high-frequency detail layers through Laplacian pyramid decomposition; s2, inputting the low-frequency residual error layer into a global illumination and color correction sub-module to obtain an enhanced low-frequency residual error layer; s3, inputting the enhanced low-frequency residual error layer and the multi-scale high-frequency detail layer into a frequency domain enhancement feature module to obtain multi-scale enhanced high-frequency detail layer output; s4, performing progressive reconstruction on the enhanced low-frequency layer output and the high-frequency enhancement layer output of each scale according to the inverse process of the Laplacian pyramid; and S5, outputting a result and applying. The method can be used for sharpening optical image data in the operation task of the autonomous underwater vehicle, and the image quality is improved.

The invention relates to the technical field of underwater navigation, and discloses a real-time attitude estimation method of an underwater inertial navigation system. The method comprises the steps that the underwater vehicle collects multi-axis angular velocity and linear acceleration data through an inertial measurement unit and uploads the data to a central processing module, and the central processing module conducts kinematics modeling on the data to generate attitude change initial feature vectors; receiving water flow velocity data of a Doppler velocimeter and pressure data of a depth sensor, and performing flow field interference compensation optimization on the attitude change initial feature vector based on the data to generate an anti-interference attitude feature vector; fusing the anti-interference attitude feature vector and a historical attitude estimation result to generate space-time fusion attitude state representation, and then resolving a real-time Euler angle through a nonlinear filter; and matching a corresponding attitude stability control instruction from the navigation strategy library according to the real-time Euler angle, and issuing the attitude stability control instruction to a propeller execution unit. The method can effectively cope with underwater complex environment interference and guarantee stable operation of the underwater vehicle.

The invention relates to the technical field of underwater vehicle drainage, and discloses an air and carbon dioxide linkage drainage device and an underwater vehicle, the air and carbon dioxide linkage drainage device comprises a power unit, an air unit, a pressure reduction unit and a flow guide assembly, and the power unit is provided with a first storage cavity; the first storage chamber is used for storing liquid carbon dioxide, the air unit is provided with a second storage chamber, the second storage chamber is used for storing high-pressure air, the pressure reduction unit is provided with a pressure reduction chamber, the first air inlet is communicated with the pressure reduction chamber, the first air outlet is communicated with the water ballast space, and a first heating source is arranged in the second storage chamber; the heating source is suitable for generating heat after receiving the signal so as to heat the air stored in the second storage chamber. The technical problems that in the air release process and when the air is in contact with water, the temperature is reduced, so that the volume of the air is reduced, and the drainage capacity of the air and carbon dioxide linkage drainage device is reduced are solved.

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

The invention provides a method and system for measuring resistance in an underwater vehicle towing test, and relates to the technical field of underwater vehicle hydrodynamic performance testing, and the method comprises three links of gravity center adjustment, measurement data processing and uncertainty analysis. Firstly, it is ensured that the gravity center and the buoyancy center of a test model are consistent in height, model attitude stability is ensured, and resistance measurement errors caused by attitude changes are eliminated. Secondly, measuring the sailing resistance of the test model in the towing test, and post-processing the measured data to obtain the total resistance coefficient of the test model at the test temperature; and finally, quantizing errors of each link and synthesizing expansion uncertainty by adopting a deviation limit and precision limit combined uncertainty analysis method. Compared with a traditional single-index evaluation method, the method not only can reveal error sources and quantify the influence of each link on the measurement result, but also can accurately reflect the composite effect of errors, and ensures the reliability of the resistance measurement result.

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

Disclosed are an inertial baseline integrated navigation method, and a product, a medium, a device and an autonomous underwater vehicle, relating to the field of navigation. The method comprises: in an initial stage of the starting of an inertial baseline integrated navigation system, an SINS using a USBL to assist with initial alignment and obtaining initial attitude information (1); when the inertial baseline integrated navigation system enters a formal navigation operating state, the SINS performing pure inertial navigation solving on the basis of the initial attitude information, so as to obtain navigation parameter calculation values including errors (2), wherein the navigation parameter calculation values comprise the attitude, velocity and position; on the basis of the navigation parameter calculation values including the errors, constructing a navigation state error model based on a Lie group (3); on the basis of a Huber function, constructing a generalized maximum likelihood estimation model (4); according to the navigation state error model based on a Lie group and the generalized maximum likelihood estimation model, establishing an integrated navigation robust Kalman filtering algorithm (5); on the basis of the integrated navigation robust Kalman filtering algorithm, performing filtering estimation on the inertial baseline integrated navigation system, so as to obtain a state estimation value (6); and on the basis of the state estimation value, performing feedback updating on navigation parameters, and on the basis of the updated navigation parameters, performing navigation. The method can improve the integrated filtering precision and positioning and orientation precision.

The invention discloses a seabed sonar image processing method based on semantic segmentation. The method comprises the following steps: S1, obtaining preprocessed sonar image blocks; s2, generating a submarine landform boundary priori map corresponding to the preprocessed sonar image blocks pixel by pixel; s3, an improved U-Net double-branch semantic segmentation network is constructed, the improved U-Net double-branch semantic segmentation network comprises a semantic branch and a boundary branch, and a landform mutual feedback gating module is configured in each scale jumper connection layer; s4, obtaining a fusion feature map; s5, deploying to the autonomous underwater vehicle to form an onboard reasoning model; and S6, performing online semantic segmentation reasoning on the preprocessed sonar image block acquired in real time by using the onboard reasoning model, and outputting a semantic category diagram and a boundary vector diagram corresponding to the preprocessed sonar image block. According to the method, the average mIoU index of the model is improved in a small-target and multi-category hybrid scene.

The invention discloses an AUV second-order sliding mode three-dimensional trajectory tracking control method based on a preset time disturbance observer, and belongs to the field of underwater vehicle control, and the method comprises the steps: building an AUV mathematical model containing external disturbance; designing a preset time interference observer by using a preset time stability theory; according to the dynamic model and the tracking error of the AUV control system, fusing preset time stability and a second-order sliding mode technology, and constructing a preset time second-order sliding mode trajectory tracking controller; and connecting the constructed interference observer and the trajectory tracking controller to the dynamic mathematical model of the AUV, and verifying the dynamic mathematical model of the AUV control system. According to the method, the preset time method is introduced, so that the AUV can quickly track the given expected trajectory, the accurate control of the three-dimensional trajectory of the AUV is realized, and the stability of the control performance of the system under the interference of external ocean current is ensured.

The invention relates to the technical field of autonomous navigation, in particular to an AUV (Autonomous Underwater Vehicle) multi-sensor fusion autonomous navigation system based on ant colony-particle swarm collaboration.The AUV multi-sensor fusion autonomous navigation system is characterized in that a sensor weight decision module constructs a pheromone matrix based on an ant colony algorithm, retrieves a mapping relation between historical errors and pheromone concentration in real time and dynamically generates a sensor priority sequence; adaptive weight distribution in a data conflict scene is realized; the dynamic path correction module is combined with a particle swarm algorithm and pheromone concentration gradient constraint to balance global path optimality and real-time obstacle avoidance requirements in optical camera obstacle deviation correction; and the closed-loop coupling module is used for converting sonar and geomagnetic residual errors into pheromone concentration correction values and confidence coefficient regulation factors by fusing residual error compensation and path tracking error feedback, so that an error traceability-weight calibration-path optimization closed loop is formed, sensor drift is inhibited, and the long-endurance navigation precision is improved.

The invention discloses an AUV (Autonomous Underwater Vehicle) path tracking method based on predicted line-of-sight angle guidance, which comprises the following steps: acquiring a real-time navigation state through inertial navigation, acoustic positioning and DVL fusion, introducing a fixed time disturbance predictor to estimate a sideslip angle and an ocean current velocity component on line, adaptively adjusting a line-of-sight distance according to transverse error-navigational speed-curvature, and tracking the path of the AUV. Calculating a predicted line-of-sight angle and outputting an expected heading; and then a propeller and a control surface are driven by adopting a fixed time feedback control law, so that track and attitude error fixed time convergence of the under-actuated AUV under the conditions of strong time-varying ocean current and large sideslip is realized. The method does not need a side thruster or an ocean current prior model, is simple in algorithm structure, is suitable for a high-speed high-curvature track, and has the advantages of high speed, high steady-state precision, low energy consumption and high robustness.

The invention discloses a long-endurance AUV (Autonomous Underwater Vehicle) and seabed data center fused intelligent cooperative monitoring method. According to the method, real-time monitoring, data transmission and intelligent feedback of a marine environment are realized through cooperative work of an autonomous underwater vehicle (AUV) and a submarine data center (UDC). The AUV is provided with a long-endurance gliding mode and a buoyancy adjusting system, long-time monitoring tasks can be executed with low energy consumption, and real-time transmission of data is ensured through a wireless communication module and a submarine cable communication system. Through an intelligent path planning algorithm and an external environment forecasting system, the AUV can autonomously adjust a navigation path to adapt to a complex and changeable marine environment. And meanwhile, the AUV has the functions of monitoring and maintaining the external structure of the seabed data center in real time, so that the stability and the operation efficiency of the data center are effectively improved. The system has the advantages of long endurance, high real-time performance, high autonomy and intelligent maintenance, and is suitable for large-scale marine environment monitoring and data center management.

The invention relates to the technical field of vehicle navigation and path planning, and provides a marine inertial navigation path planning method and system, and the method comprises the steps: obtaining environment risk information of a path corresponding to the driving direction of an autonomous underwater vehicle; adjusting a deviation tolerance threshold value corresponding to an inertial navigation system on the autonomous underwater vehicle according to the environmental risk information; acquiring a position calculation deviation of the inertial navigation system; the position calculation deviation is compared with a deviation tolerance threshold value, and triggering of a communication correction action is decided according to the backlog condition of the emergency event data; and when the communication correction action is triggered, planning and executing a communication correction track to realize position correction of the autonomous underwater vehicle. The method has the advantages that the navigation strategy is dynamically adjusted according to the environment risk and the data backlog condition, the communication correction opportunity is intelligently decided, and the autonomous navigation capability and the task adaptability of the autonomous underwater vehicle in the complex marine environment are improved.

The invention discloses a multi-AUV adaptive path planning method for a complex underwater environment, and belongs to the technical field of cooperative control of autonomous underwater vehicles, and the method comprises the following steps: S1, carrying out the grid division of a sea area, and generating a local observation tensor; s2, constructing a Markov decision model according to the local observation tensor and the navigation state tensor; s3, inputting the local observation tensor and the navigation state tensor into a double-branch cross attention network to generate Q value estimation; s4, adjusting Q value estimation by using the dual Q network; s5, distributed collaborative learning is carried out; and S6, generating an initial path according to the adjusted Q value estimation, and correcting the initial path by using a distributed collaborative learning result to obtain a global optimal path. According to the method, the problem of insufficient path planning robustness caused by dynamic interference and static obstacle coupling in a complex underwater environment is solved, and an end-to-end optimization link from local observation to global decision is formed.

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

According to the method suitable for solving the transition turbulence flow field of the underwater vehicle containing the temperature gradient, CFD solving is carried out by directly calling an underwater boundary layer transition turbulence model considering the temperature gradient, and prediction of the boundary layer transition position and the transition process of the underwater vehicle under the wall surface thermal control condition is achieved. Firstly, an incompressible similarity equation set containing a temperature equation is solved, an underwater boundary layer characteristic parameter database is established, linear stability analysis is carried out under a given flow working condition, and transition momentum thickness Reynolds numbers # imgabs0 # under different flow working conditions are obtained; fitting to obtain a fitting relational expression between a transition momentum thickness Reynolds number # imgabs1 # and a flow working condition as a transition criterion; and implanting the transition criterion into a source item of the transition model to obtain an underwater boundary layer transition prediction model considering the temperature gradient, and finally modifying a generation source item and a damage source item of a turbulent energy transport equation in the Menter SST turbulence mode according to the transition prediction model to obtain an underwater boundary layer transition turbulence model considering the temperature gradient.

The invention belongs to the technical field of underwater vehicle testing, and particularly relates to a testing device for simulating an actual ocean service environment and a using method of the testing device. The experimental device comprises a box body, a bottom plate detachably installed on the box body, a plurality of simulation areas arranged on the bottom plate or the side wall of the box body, a wave making mechanism and a water depth pressure simulation mechanism installed on the side wall of the box body, a sea wind simulation mechanism installed on the box body, a first illumination module and a plurality of first visual capture modules. The wave making mechanism, the water depth pressure simulation mechanism and the sea wind simulation mechanism are arranged to form an ocean service environment, a plurality of simulation areas are arranged on the bottom plate or the side wall of the box body, and the height of the multiple three-dimensional lifting columns relative to the polygonal sinking surface is adjusted through the corresponding telescopic driving mechanisms to simulate the ocean seabed landform. Different working environments are provided for a test object, and the problems that in the prior art, due to the fact that the difference between the simulated marine environment and the actual environment is large, appearance optimization design cannot be carried out, and service performance cannot be comprehensively evaluated are solved.

The invention relates to the technical field of cable sealing, and provides a cabin-penetrating sealing device and an installation method of the cabin-penetrating sealing device applied to an underwater vehicle, and the cabin-penetrating sealing device comprises a pipe body which divides a pipe cavity into a first sealing groove and a second sealing groove; the first sealing structure comprises a first sealing filler which fills a gap between the pipe body and the linear entity in the first sealing groove; the first fastener compresses the first sealing filler; the second sealing structure comprises a second sealing filler which is used for filling a gap between the pipe body and the linear entity in the second sealing groove; the second fastener compresses the second sealing filler; the third sealing structure comprises a third sealing filler which tightly holds the second fastener and the linear entity and wraps the second fastener in a sealed mode. And the fourth sealing structure comprises a first sealing mold, covers the third sealing structure and the outboard part of the pipe body, and is filled with fourth sealing filler. Multiple sealing ensures that the linear entity is fixed and sealed without leakage in the underwater navigation process, and the sealing effect is safe and reliable.

The invention discloses a composite man-machine sharing cooperative control method for an underwater operation robot, and the method comprises a robot modeling stage, an information collection stage, a motion mapping stage, a task distribution stage, a task priority separation type sharing control stage, and a force feedback stage. In the task allocation stage, tasks are divided into a joint constraint task, a mixed shared whole-body cooperative control task and an attitude optimization task; the joint constraint task is controlled by the autonomous system and used for preventing self-collision of the robot; the hybrid sharing whole-body cooperative control task is focused on motion control of the tail end of the underwater mechanical arm, the tail end of the underwater mechanical arm is controlled through a hybrid sharing control method, input of an operator and an autonomous system is fused, and motion distribution is conducted on an underwater vehicle and the underwater mechanical arm. The attitude optimization task is controlled by an autonomous system for assisting an operator in adjusting the viewing angle. According to the invention, self-obstacle avoidance and auxiliary attitude adjustment can be automatically realized, and man-machine sharing control is realized in an end operation task.

The invention discloses an underwater vehicle tracking control method with state constraint under input saturation. The method comprises the following steps: firstly, constructing an AUV control system containing model uncertainty and unknown interference based on a kinematics model and a dynamics model of the AUV, and obtaining a reference trajectory of a tracking target; establishing an error model of the AUV control system in combination with the error conversion function, and obtaining a design variable related to the position tracking error; meanwhile, deducing a design variable related to a speed tracking error; constructing a fixed time integral sliding mode lumped disturbance observer based on a design variable related to a position tracking error; and finally, combining a fixed time integral sliding mode lumped disturbance observer and design variables related to a speed tracking error to construct a trajectory tracking control system, and designing a fixed time convergence sliding mode controller by using a continuous input signal and a position and speed adaptive law. According to the invention, the tracking error is stabilized to zero in a fixed time; and continuous control input is realized.

The invention provides an underwater positioning system combining sound ray propagation modeling and multipath interference suppression, which relates to the technical field of marine equipment and comprises a self-adaptive underwater sound sensing and environment cognition module, an environment self-adaptive sound ray propagation modeling module, a multipath suppression and direct wave extraction module and a multi-dimensional information fusion and self-adaptive positioning calculation module. The self-adaptive underwater sound sensing and environment cognition module is used for realizing multi-mode sensing and real-time environment feature recognition of underwater sound signals, and the environment self-adaptive sound ray propagation modeling module is used for constructing a dynamically updated sound wave propagation model and providing a propagation path and time constraint for positioning calculation; the multi-path suppression and direct wave extraction module is used for carrying out multi-path signal separation and extracting direct wave features with confidence marks, and the multi-dimensional information fusion and self-adaptive positioning calculation module is used for completing high-precision positioning calculation; according to the system, deep fusion of an environment model and signal processing can be realized, and the positioning precision and robustness of the underwater vehicle in a complex underwater sound environment are remarkably improved.

The invention relates to the technical field of underwater vehicle fault diagnosis, in particular to a multi-mode propeller fault diagnosis method and diagnosis system. Comprising the following steps: collecting and preprocessing multi-modal data; quantizing the quality of the acoustic signal data and the visual signal data obtained in the previous step in real time; constructing a quality sensing gating network model; and training a quality sensing gating network model, and outputting a propeller fault type by using the trained quality sensing gating network model. The characteristics of the low-quality mode are dominated, enhanced and corrected through the characteristics of the high-quality mode, the interaction strength of the depth characteristics is actively controlled in real time from the source quality of signals, and high robustness and accuracy of propeller fault diagnosis can still be kept in a complex and severe environment.

The invention discloses a 2D-CNN network wake flow electromagnetic field detection method based on wavelet transform time-frequency spectrum characteristics. The method comprises the steps of (1) generating an underwater vehicle wake flow electromagnetic field calculation data set through a multi-physics field coupling method of hydrodynamics and electromagnetism, (2) extracting time-frequency spectrum features of a wake flow electromagnetic field through wavelet transform, and (3) developing a wake flow electromagnetic field detection model based on a 2D-CNN deep neural network. And training the model by using the data after the wavelet transform for wake flow electromagnetic field detection. According to the 2D-CNN network wake flow electromagnetic field detection method based on the wavelet transform time-frequency spectrum characteristics, the detection capability of the wake flow electromagnetic field can be effectively improved, a new technical means is provided for detection of the wake flow electromagnetic field of an underwater vehicle, and the method has a good application prospect in the field of marine target electromagnetic field monitoring and early warning.

The invention relates to the field of underwater detection, and provides a seabed static small target detection method suitable for an underwater vehicle, and the method comprises the steps: obtaining a plurality of underwater sonar images through a two-dimensional imaging sonar of the underwater vehicle; inputting a to-be-detected underwater sonar image into the underwater target detection model to extract features and detect the features to obtain an object category, bounding box coordinates and a confidence score; according to the method, target features are automatically extracted through a deep neural network in an end-to-end mode, a CAA module is introduced to capture a context dependency relationship between long-distance pixels in an image, a feature map with higher expressive power is generated by integrating context information, a model is helped to better distinguish a target object from a background, and the accuracy of the target object is improved. Therefore, the detection accuracy is improved.

The invention particularly relates to an underwater vehicle multi-energy hybrid energy storage system and a coordinated energy management strategy. The system comprises a lithium ion battery, a super capacitor and a fuel cell applying a proton exchange membrane which are respectively connected to a direct current bus. The method for coordinating the energy management strategy comprises the following steps: acquiring a current motion parameter and a current energy parameter of an underwater vehicle; inputting the current motion parameter, the current energy parameter and the expected navigational speed into a load prediction model based on a BP neural network, and estimating the expected total power at the next moment; and determining a corresponding action strategy according to the current operation mode of the underwater vehicle, and performing power distribution on the expected total power based on the action strategy. According to the scheme, the hybrid energy system can perform smooth working mode switching and optimal power distribution under different working conditions.

The invention relates to an underwater vehicle technology, in particular to an unmanned underwater vehicle. The whole unmanned underwater vehicle is designed to be in a bionic fish shape and comprises a head mechanism, a skeleton structure, a tail mechanism, an equipment box, a marching system and a shell, the head mechanism, the shell and the tail mechanism are sequentially connected, the skeleton structure is arranged in the shell and comprises a plurality of spine bodies and rib assemblies, and the rib assemblies are arranged in the shell. Silica gel is arranged between the spine bodies; the rib assembly and the spine body are in one-to-one correspondence and are connected, the rib structure comprises a bearing and two rib frames connected to the bearing, the two rib frames are connected to the bearing to generate relative rotation, the rib frames are used for supporting and arranging an equipment box, and the equipment box is used for arranging instruments and equipment; the problems that in the prior art, when an underwater vehicle advances underwater, generated resistance is large, advancing is not flexible enough, the space utilization rate is low, the impact resistance and deformation resistance are poor, and tearing and damage are prone to occurring are solved.

The invention discloses a multifunctional underwater vehicle. The multifunctional underwater vehicle comprises a ship body, a propeller, a rotating driver and a control device, a ship sealing cavity is formed in the ship body, a driving opening is formed in the outer side wall of the ship body, and the ship sealing cavity communicates with the driving opening; the driving openings are formed in the left side and the right side of the ship body in the advancing direction, and the driving openings in each side are arranged in pairs and distributed on the same straight line according to the front-back relation. The rotating drivers are arranged in the ship sealing cavity, and each driving opening corresponds to one rotating driver; the output end of each rotating driver horizontally extends out of the driving opening, is connected to the propeller and is used for driving the propeller to rotate by any angle; the control device is in communication connection with the rotating driver and the propeller. According to the scheme, one or more propellers are independently adjusted according to needs during underwater navigation of the underwater vehicle, so that rotation, constant-speed driving, accelerated driving, deep diving and floating are achieved during underwater navigation, and the problem that the underwater navigation function is insufficient due to the fact that the propellers of an existing underwater vehicle are single in function is solved.

The invention relates to an anti-offset wireless charging coupler for an underwater vehicle, which solves the problem that the multi-dimensional offset charging efficiency is reduced due to ocean current by adopting the collaborative design of a grouped serial-wound transmitting end and a geometric adaptive receiving end. The transmitting end is formed by connecting an outer ring winding and an inner ring winding in series, the outer ring provides wide-area magnetic field coverage, the inner ring strengthens the local magnetic field intensity, and the ferrite array is combined to suppress magnetic leakage to cope with horizontal and rotary offset; the receiving end adopts a curved surface type structure and fits the geometric contour of an aircraft shell, interference of a rotation offset delta phi on a magnetic field is limited through optimal design of a coverage angle theta, and magnetic flux is concentrated by a ferrite array on the back side to improve the coupling efficiency. The system does not need complex mechanical adjustment, realizes energy transmission through magnetic field coupling, keeps stable efficiency in seawater, fresh water and air environments, has the advantages of compact structure, high offset resistance, wide medium adaptability and high expandability, and remarkably improves the reliability and cruising ability of wireless charging of the underwater vehicle.