公开(公告)号：US20250042520A1

公开(公告)日：2025-02-06

申请号：US18774176

申请日：2024-07-16

Applicant: KALMAN INC

Inventor： Kooksun LEE

IPC: B63G8/08 ,  B63G8/00 ,  B63G8/20 ,  B63G8/39

Abstract: Proposed is a control method of an underwater robot equipped with a multi-degree-of-freedom robot arm according to an exemplary embodiment, including: a) step 1-1th of obtaining a propulsive force prediction value by predicting a propulsive force of the underwater robot based on an artificial neural network and configuring a sensorless propulsion controller equipped with a propulsion system to control a speed of the underwater robot; and b) step 1-2th of configuring a underwater robot manipulator (URM) controller that obtains a torque prediction value by predicting an output torque of an actuator constituting the multi-degree-of-freedom robot arm provided in the underwater robot based on the artificial neural network.

公开(公告)号：US20240383592A1

公开(公告)日：2024-11-21

申请号：US18692232

申请日：2021-09-14

Applicant: WESTLAKE UNIVERSITY

Inventor： Wei LI ,  Bing LUO ,  Weicheng CUI

IPC: B63G8/08

Abstract: Embodiments of the present disclosure provide a biomimetic underwater vehicle which is mainly used in water, comprising a head portion and a body portion, wherein the head portion comprises a first housing, a motor portion is provided in the first housing, the motor portion comprises a plurality of motor assemblies; the body portion comprises a second housing, and a plurality of rotation joints corresponding to the plurality of motor assemblies are provided in the second housing; the plurality of rotation joints are sequentially connected along the length direction of the biomimetic underwater vehicle, and the rotation joint at the most downstream is connected to a tail portion, and each of the motor assemblies is connected to the corresponding rotation joint via two pull ropes and drives the rotation joint to move, and the two pull ropes are located on two sides of the body portion respectively. According to the embodiments of the present disclosure, by the corresponding arrangements of the motors located at the head portion and the rotation joints located in the middle and the transmission manner of multiple joints, on the one hand, the inertia of movement of the tail portion of the biomimetic underwater vehicle is reduced, and on the other hand, the center of gravity of the whole is moved forward so as to reduce the swinging movement of the head portion during driving of the biomimetic underwater vehicle, thereby achieving a flexible biomimetic effect and improving the propulsive performance of the biomimetic underwater vehicle.

公开(公告)号：US20240308632A1

公开(公告)日：2024-09-19

申请号：US18281929

申请日：2022-03-18

Applicant: NATIONAL INSTITUTE OF MARITIME, PORT AND AVIATION TECHNOLOGY

Inventor： Masahiko SASANO

IPC: B63G8/00 ,  B63B79/15 ,  B63B79/40 ,  B63G8/08 ,  B63G8/14

CPC classification number: B63G8/001 ,  B63B79/15 ,  B63B79/40 ,  B63G8/08 ,  B63G8/14 ,  B63B2213/00 ,  B63G2008/007

Abstract: The present invention comprises: a surface repeater vehicle 200 having a repeater vehicle propulsion means 38 and a repeater vehicle position measurement means 40; an underwater vehicle 100 having a vehicle position estimation means 20; an information transmission line 24 for connecting between the surface repeater vehicle 200 and the underwater vehicle 100, and transmitting acquired information including image information obtained by the underwater vehicle 100; a position setting means 54 for setting a target latitude and target longitude for the surface repeater vehicle 200 and the underwater vehicle 100; and a control means 12, 32 for controlling the surface repeater vehicle 200 and the underwater vehicle 100, and is configured such that, on the basis of the target latitude and target longitude that have been set and an on-water position measured by the repeater vehicle position measurement means 40, the repeater vehicle propulsion means 38 is driven, the position of the surface repeater vehicle 200 is controlled by the control means 12, 32, and on the basis of the target latitude and target longitude that have been set and an underwater position estimated by the vehicle position estimation means 20, the position of the underwater vehicle 100 is controlled by the control means 12, 32, thereby causing the underwater vehicle 100 and the surface repeater vehicle 200 to travel side-by-side while maintaining a vertical positional relationship on the water surface and under water until reaching the target latitude and target longitude.

公开(公告)号：US12030603B2

公开(公告)日：2024-07-09

申请号：US16858446

申请日：2020-04-24

Applicant: Robert W. Lautrup ,  Anthony C. Mulligan

Inventor： Robert W. Lautrup ,  Anthony C. Mulligan

IPC: B63G8/04 ,  B63G8/00 ,  B63G8/08 ,  B63G8/28 ,  G01C21/16 ,  G01S15/93 ,  G01S19/01 ,  G01S19/42

CPC classification number: B63G8/04 ,  B63G8/001 ,  B63G8/08 ,  B63G8/28 ,  G01C21/16 ,  G01S15/93 ,  G01S19/015 ,  G01S19/42 ,  B63G2008/004

Abstract: A modular underwater vehicle includes a hull having a series of modular sections, defining an interior housing, a propulsor coupled to a stern of the hull, a series of control surfaces coupled to the propulsor or the stern of the hull, and a power supply, a processor, and a nonvolatile memory device in the interior housing. The nonvolatile memory device has instructions stored therein which, when executed by the processor, cause the processor to supply power from the power supply to drive the propulsor and to actuate the plurality of control surfaces. At least one modular section of the series of modular sections is detachable.

公开(公告)号：US20240174333A1

公开(公告)日：2024-05-30

申请号：US17791065

申请日：2022-01-24

Applicant: Agellus TankBOT 360 Inc.

Inventor： DAMIEN GOODYEAR

IPC: B63G8/00 ,  B63G8/08 ,  B63G8/16

CPC classification number: B63G8/001 ,  B63G8/08 ,  B63G8/16 ,  B63G2008/005

Abstract: A remote modular submersible device is suitable for various subsurface operations in a liquid, such as freshwater, salt water, hydrocarbon(s), and/or chemical(s). The remote modular submersible device includes a chassis and a clamping system in the chassis. The clamping system is configured to clamp the chassis to an elongate member. The remote modular submersible device also includes a propulsion system in the chassis. The propulsion system is configured to propel and orient the chassis in a liquid in which the chassis is submerged. The remote modular submersible device additionally includes a processor configured to control at least the propulsion system.

公开(公告)号：US20240133389A1

公开(公告)日：2024-04-25

申请号：US17769961

申请日：2021-08-26

Applicant: Foshan Shenfeng Aviation Technology Co., Ltd.

Inventor： Zhicheng WANG

IPC: F04D25/00 ,  A63B21/008 ,  B63G8/08 ,  B64C27/32 ,  F04D13/00

CPC classification number: F04D25/00 ,  A63B21/0084 ,  B63G8/08 ,  B64C27/32 ,  F04D13/00

Abstract: The present disclosure discloses a device and a method for converting reciprocating motion into continuous rotation, and application includes: a central shaft and rotating discs, each rotating disc is connected to the central shaft through a bearing, the rotating disc is arranged concentrically with the bearing, wings are arranged on a circumference of rotating disc, upper wing surfaces of the wings are of convex structures. According to the device for converting reciprocating motion into continuous rotation of the present disclosure, the rotating directions of the wings can be kept unchanged all the time during the reciprocating motion of the device by using airfoil structures of the wings in the device and limiting mounting angles of the wings, so as to obtain a continuous lifting force with a constant direction.

公开(公告)号：US11967853B1

公开(公告)日：2024-04-23

申请号：US17232477

申请日：2021-04-16

Applicant: The United States of America as represented by the Secretary of the Navy

Inventor： Jeffrey S Hanson, Jr.

IPC: H02J7/00 ,  B63G8/00 ,  B63G8/08 ,  H02J7/14

CPC classification number: H02J7/1415 ,  B63G8/001 ,  B63G8/08 ,  B63G2008/004

Abstract: An autonomous underwater vehicle includes a vehicle body controlled by a processor. An anchor joined to a tether is disposed in the vehicle. The vehicle has control surfaces for maneuvering, a propulsion unit, and a turbine. The propulsion unit and turbine generate thrust to propel the vehicle. A power source provides power to the vehicle. The turbine is further joined to a generator. When the processor detects that the power source is below a threshold value, the propulsion unit is stopped, the anchor is deployed, and the control surfaces are operated to move the vehicle in a predetermined trajectory through a fluid stream of the environment restrained by the tether. The fluid stream causes rotation of the turbine and generator to recharge the power source.

公开(公告)号：US11772761B2

公开(公告)日：2023-10-03

申请号：US17448533

申请日：2021-09-23

Applicant: City University of Hong Kong

Inventor： Yajing Shen ,  Jiahai Shi ,  Panbing Wang ,  Xiong Yang

IPC: B63G8/08 ,  B63G8/16 ,  B63G8/00

CPC classification number: B63G8/08 ,  B63G8/001 ,  B63G8/16 ,  B63G2008/004 ,  B63G2008/005

Abstract: An underwater vehicle for performing a variety of linear motions and turning motions with better stability and agility is disclosed. The underwater vehicle includes a main body, a front-drive mechanism, a rear-drive mechanism, and a steering assembly. The main body has a front end and a rear end, which defines a longitudinal axis extending from the front end to the rear end of the main body. The front-drive mechanism is connected to the main body to provide a forward propelling force in a direction parallel to the longitudinal axis. The steering assembly is fixed to the rear end and coupled to the rear-drive mechanism. The steering assembly is configured to rotate the rear-drive mechanism with respect to the longitudinal axis by a body angle for providing a lateral force on the main body.

公开(公告)号：US20230303224A1

公开(公告)日：2023-09-28

申请号：US18022123

申请日：2021-08-17

Applicant: Quantum Industrial Development Corp.

Inventor： VICTORIA A. WATSON ,  JOSEPH SHEA MCDOWELL

IPC: B63G8/08 ,  B63H21/18

CPC classification number: B63G8/08 ,  B63H21/18 ,  B63H2021/006

Abstract: A watercraft (101), such as a submersible or submarine, is provided which includes a hull; a propulsion system (121) for propelling the hull through water; and a power plant which powers the propulsion system, the power plant including a heat engine (103) and a thermal energy source. The thermal energy source includes at least one material selected from the group consisting of nuclear isomers and radioisotopes.

公开(公告)号：US20230286628A1

公开(公告)日：2023-09-14

申请号：US17692326

申请日：2022-03-11

Applicant: Sebastian Dawid Oledzki ,  Jakub Wladyslaw Grabek ,  Wieslaw Julian Oledzki ,  Lukasz Sadowski

Inventor： Sebastian Dawid Oledzki ,  Jakub Wladyslaw Grabek ,  Wieslaw Julian Oledzki ,  Lukasz Sadowski

IPC: B63G8/04 ,  B63G8/08 ,  B63B7/06

CPC classification number: B63G8/04 ,  B63G8/08 ,  B63B7/06

Abstract: System of unmanned underwater vehicles with multiple variable-geometry internally pressurized flexible hulls (that enable the underwater vehicle to submerge/emerge and change submersion depth by varying hull's buoyancy and not the vehicle weight) and possibly at least one pressure hull housing e.g. accumulators and electronic steering system. Each flexible hull is composed of a number of flexible hull segments modules.