Disclosed is a full-posture underwater drone device, including: a shell, and six propellers installed on the shell, the six propellers are independently controlled, four of the propellers are respectively located in four spaces formed by a first vertical central plane and a second vertical central plane, a propelling direction is between a horizontal direction and a vertical direction, and the other two propellers are located on opposite sides of the first vertical central plane; the first vertical central plane extends along a front-rear direction of the shell and is perpendicular to a horizontal plane, and the second vertical central plane passes through a midpoint in a longitudinal direction of the shell and is perpendicular to the first vertical central plane and the horizontal plane.

Autonomous underwater vehicles are described that are stackable with other like autonomous underwater vehicles on a suitable launch platform, such as within a vertical missile launch tube of a submarine, waiting to be deployed into the water. The underwater vehicles can be deployed or launched individually, in groups, or all together into the water. While stacked together, the stacked autonomous underwater vehicles can connect to one another or to external structure of the launch platform. In addition, the underwater vehicles can be positively buoyant or can be made to have controllable buoyancy to allow the underwater vehicles to float up and out of the launch platform during deployment without an external deployment force.

Autonomous underwater vehicles are described that are stackable with other like autonomous underwater vehicles on a suitable launch platform, such as within a vertical missile launch tube of a submarine, waiting to be deployed into the water. The underwater vehicles can be deployed or launched individually, in groups, or all together into the water. While stacked together, the stacked autonomous underwater vehicles can connect to one another or to external structure of the launch platform. In addition, the underwater vehicles can be positively buoyant or can be made to have controllable buoyancy to allow the underwater vehicles to float up and out of the launch platform during deployment without an external deployment force.

A method for controlling a thruster of a marine vehicle includes a body and a thruster mounted on the body of the vehicle, the vehicle being at least partially immersed in a liquid and moving with respect to the liquid along an axis of displacement in a direction of displacement and rotating about at least one axis of rotation perpendicular to the axis of displacement with a rotational speed, the thruster including an upstream propeller and a downstream propeller along the axis of displacement in the direction of displacement. The method including a stabilization step, in which the thruster is controlled such that the main axis of the upstream flow generated by the upstream propeller at a given instant t is an estimated main axis on which a position of a center of the downstream propeller, situated substantially on the axis of rotation of the downstream propeller, is estimated to be situated at a later instant t+dt at which the flow generated by the upstream propeller at the given instant t reaches the downstream propeller, the estimated main axis depending on the rotational speed of the vehicle.

A method for controlling a thruster of a marine vehicle includes a body and a thruster mounted on the body of the vehicle, the vehicle being at least partially immersed in a liquid and moving with respect to the liquid along an axis of displacement in a direction of displacement and rotating about at least one axis of rotation perpendicular to the axis of displacement with a rotational speed, the thruster including an upstream propeller and a downstream propeller along the axis of displacement in the direction of displacement. The method including a stabilization step, in which the thruster is controlled such that the main axis of the upstream flow generated by the upstream propeller at a given instant t is an estimated main axis on which a position of a center of the downstream propeller, situated substantially on the axis of rotation of the downstream propeller, is estimated to be situated at a later instant t+dt at which the flow generated by the upstream propeller at the given instant t reaches the downstream propeller, the estimated main axis depending on the rotational speed of the vehicle.

A method controlling a thruster of a marine vehicle at least partially submerged in a liquid includes a body and a thruster including two propellers, each propeller including blades intended to turn about a rotation axis of said propeller, the method including 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 at least partially submerged in a liquid includes a body and a thruster including two propellers, each propeller including blades intended to turn about a rotation axis of said propeller, the method including 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.

The present invention discloses a roll-over floating mixed multi-habitat submersible based on built-in driving principle comprising an outer spherical shell, a propulsion unit, an inner spherical shell, a rolling power unit, a buoyancy adjusting unit and a steering unit; the inner spherical shell can be set in the outer spherical shell rotating in the first axis direction relative to outer spherical shell; the roller power unit can be set in the inner spherical shell, capable of rotating around the second axis to generate an eccentric moment to advance or retract the submersible; the buoyancy adjusting unit and steering unit are installed in the space between the outer spherical shell and the inner spherical shell, wherein the buoyancy adjusting unit is capable of causing the submersible to sink or float in the water body and the steering unit is capable of driving the inner spherical shell to rotate relative to the outer spherical shell; The first axis is perpendicular to the second axis. The present invention has the beneficial effect that it not only can float in water body and move at the bottom of the water body, but also be able to move on land to realize the ability of interdisciplinary activity, and also to make the laying and recycling simple.

The present invention discloses a roll-over floating mixed multi-habitat submersible based on built-in driving principle comprising an outer spherical shell, a propulsion unit, an inner spherical shell, a rolling power unit, a buoyancy adjusting unit and a steering unit; the inner spherical shell can be set in the outer spherical shell rotating in the first axis direction relative to outer spherical shell; the roller power unit can be set in the inner spherical shell, capable of rotating around the second axis to generate an eccentric moment to advance or retract the submersible; the buoyancy adjusting unit and steering unit are installed in the space between the outer spherical shell and the inner spherical shell, wherein the buoyancy adjusting unit is capable of causing the submersible to sink or float in the water body and the steering unit is capable of driving the inner spherical shell to rotate relative to the outer spherical shell; The first axis is perpendicular to the second axis. The present invention has the beneficial effect that it not only can float in water body and move at the bottom of the water body, but also be able to move on land to realize the ability of interdisciplinary activity, and also to make the laying and recycling simple.

Autonomous underwater vehicles are described that are stackable with other like autonomous underwater vehicles on a suitable launch platform, such as within a vertical missile launch tube of a submarine, waiting to be deployed into the water. The underwater vehicles can be deployed or launched individually, in groups, or all together into the water. While stacked together, the stacked autonomous underwater vehicles can connect to one another or to external structure of the launch platform. In addition, the underwater vehicles can be positively buoyant or can be made to have controllable buoyancy to allow the underwater vehicles to float up and out of the launch platform during deployment without an external deployment force.