A water submersible vehicle, the vehicle has a variable buoyancy system where flight of the submersible is controlled by a forward thruster forward of the center of displacement and that regulates both pitch and up-and-down hover. The vehicle in combination with a control system allows the user using to use only two control elements, one with each hand, to fly the vehicle by controlling motion along long axis, yaw, pitch and roll. An ergonomic submersible pod may be incorporated into the water submersible vehicle. The ergonomic submersible pod may also be used with other flight systems to provide for new types of low cost underwater travel.

An autonomous underwater base for handling an autonomous underwater vehicle (AUV) equipped with seismic sensors for recording seismic signals during a marine seismic survey. The autonomous underwater base includes a storing module configured to store the AUV; an inlet/outlet module configured to control access of the AUV to the storing module; and a control module having a positioning system configured to adjust a position of the base in water. The positioning system autonomously drives the storing module from a first position to a second position underwater.

An autonomous underwater base for handling an autonomous underwater vehicle (AUV) equipped with seismic sensors for recording seismic signals during a marine seismic survey. The autonomous underwater base includes a storing module configured to store the AUV; an inlet/outlet module configured to control access of the AUV to the storing module; and a control module having a positioning system configured to adjust a position of the base in water. The positioning system autonomously drives the storing module from a first position to a second position underwater.

Provided is a propeller for a submersible, comprising a housing (1) having a cylindrical structure with two open ends, a stator sleeve (2) having a cylindrical structure with one open end, the stator sleeve suspended in an internal cavity of the housing (1), a motor stator (3) fixed inside the stator sleeve (2), a rotor sleeve (4) having a cylindrical structure with one open end and disposed on the stator sleeve (2), a motor rotor (5) fixed to an inner wall of the rotor sleeve (4), and a propeller (6) fixed to an outer wall of the rotor sleeve (4). The propeller (6) of the underwater propeller is directly fixed to the rotor sleeve (4) so that the structure of the motor is compact, and the rotational shaft transmission is not required so that the length of the propeller is shortened and the volume is reduced.

Provided is a propeller for a submersible, comprising a housing (1) having a cylindrical structure with two open ends, a stator sleeve (2) having a cylindrical structure with one open end, the stator sleeve suspended in an internal cavity of the housing (1), a motor stator (3) fixed inside the stator sleeve (2), a rotor sleeve (4) having a cylindrical structure with one open end and disposed on the stator sleeve (2), a motor rotor (5) fixed to an inner wall of the rotor sleeve (4), and a propeller (6) fixed to an outer wall of the rotor sleeve (4). The propeller (6) of the underwater propeller is directly fixed to the rotor sleeve (4) so that the structure of the motor is compact, and the rotational shaft transmission is not required so that the length of the propeller is shortened and the volume is reduced.

An underwater sailing body includes: a positioning device configured to detect positional information of a hull of the underwater sailing body; a posture detecting sensor configured to detect posture information of the hull; an actuator configured to apply thrust to the hull in a front-rear direction of the hull, a left-right direction of the hull, an upper-lower direction of the hull in water to change the position and posture of the hull; and a controller configured to control the actuator. In order to hold a hull at a target position when the hull receives an external force by disturbances, the hull keeps balance by using thrusters with respect to the external force acting on the hull. Specifically, the hull is held at the target position by controlling a thruster configured to generate thrust in a front-rear direction and a thruster configured to generate thrust in a left-right direction.

An underwater sailing body includes: a positioning device configured to detect positional information of a hull of the underwater sailing body; a posture detecting sensor configured to detect posture information of the hull; an actuator configured to apply thrust to the hull in a front-rear direction of the hull, a left-right direction of the hull, an upper-lower direction of the hull in water to change the position and posture of the hull; and a controller configured to control the actuator. In order to hold a hull at a target position when the hull receives an external force by disturbances, the hull keeps balance by using thrusters with respect to the external force acting on the hull. Specifically, the hull is held at the target position by controlling a thruster configured to generate thrust in a front-rear direction and a thruster configured to generate thrust in a left-right direction.

A method controlling a thruster of a marine vehicle is provided. The marine vehicle is at least partially submerged in a liquid and includes a body and a thruster including two propellers. Each propeller includes blades intended to tum about a rotation axis of said propeller. The method includes a step of low-speed maneuver controlling, during which the thruster is controlled in such a way that each propeller generates a flow directed toward the flow generated by the other propeller and reaching the flow generated by the other propeller.

A method controlling a thruster of a marine vehicle is provided. The marine vehicle is at least partially submerged in a liquid and includes a body and a thruster including two propellers. Each propeller includes blades intended to tum about a rotation axis of said propeller. The method includes a step of low-speed maneuver controlling, during which the thruster is controlled in such a way that each propeller generates a flow directed toward the flow generated by the other propeller and reaching the flow generated by the other propeller.

An underwater drone is disclosed. The underwater drone includes a horizontal propeller module and a vertical propeller module to respectively provide a drone body with a horizontal proceeding force and a vertical lifting or diving force. The underwater drone includes a horizontal channel and a vertical channel, which allow the water to pass through for reducing resistance when the underwater drone moves forwards, upwards or downwards. The underwater drone is equipped with a buoy member with an antenna portion of a communication module disposed therein. The underwater drone is equipped with the fishing device, the fish finding device and the image capturing module. Therefore, the underwater drone is capable of fishing, rapidly moving and wireless remote control.