A self-balanced pressure hull device, belonging to the field of pressure structure technology of deep-sea submersibles, being assembled by nesting, from inside to outside, a spherical inner housing, a spherical intermediate housing and a spherical outer housing around the sphere centre, pairs of symmetric coaxial connecting shaft components being connected between the spherical inner housing and the spherical intermediate housing and between the spherical intermediate housing and the spherical outer housing, respectively; axes of the two pairs of connecting shaft components are perpendicular to each other so as to enable the spherical inner housing and the spherical intermediate housing to rotate relative to each other, and the spherical intermediate housing and the spherical outer housing to rotate relative to each other; and each of the connecting shaft components in the two pairs being provided with a spring damper for resisting the axial impact between each two adjacent housings.

A self-balanced pressure hull device, belonging to the field of pressure structure technology of deep-sea submersibles, being assembled by nesting, from inside to outside, a spherical inner housing, a spherical intermediate housing and a spherical outer housing around the sphere centre, pairs of symmetric coaxial connecting shaft components being connected between the spherical inner housing and the spherical intermediate housing and between the spherical intermediate housing and the spherical outer housing, respectively; axes of the two pairs of connecting shaft components are perpendicular to each other so as to enable the spherical inner housing and the spherical intermediate housing to rotate relative to each other, and the spherical intermediate housing and the spherical outer housing to rotate relative to each other; and each of the connecting shaft components in the two pairs being provided with a spring damper for resisting the axial impact between each two adjacent housings.

A support buoy for supporting subsea equipment, the buoy comprising: a hull; a generator unit contained within the hull; a utilities array contained within the hull; and an umbilical,
wherein the umbilical is adapted to provide services from the generator unit and the utilities array to the subsea equipment.

A support buoy for supporting subsea equipment, the buoy comprising: a hull; a generator unit contained within the hull; a utilities array contained within the hull; and an umbilical,
wherein the umbilical is adapted to provide services from the generator unit and the utilities array to the subsea equipment.

The present invention provides a self-draining oil buoyancy regulating device for underwater robots, wherein the accumulator, lower hatch cover, hatch trunk, upper hatch cover and bladder are fixedly connected in sequence; the water-proof connector is fixed on the upper hatch cover; the depth-pressure sensor is settled on the lower hatch cover to check the underwater pressure; the upper valve block, hydraulic-operated check valve and lower valve block are connected though piping in sequence; the lower valve block is fixed on the lower hatch cover; the pump outlet pressure sensor and the accumulator pressure sensor are settled on the lower valve block; the directional valve and the upper valve block are connected through piping; the hydraulic pump motor assembly and the relief valve are both connected with the lower valve block through piping; the depth-pressure sensor, pump outlet pressure sensor and accumulator pressure sensor are all connected with the control panel; the control panel is connected with the external power supply and the host computer respectively by the water-proof connector; The present invention adopts a whole hydraulic plan which performs active oil drain and passive oil return; the design of overlay valve blocks has advantages of compact structure, reliable and energy-saving.

The present invention provides a self-draining oil buoyancy regulating device for underwater robots, wherein the accumulator, lower hatch cover, hatch trunk, upper hatch cover and bladder are fixedly connected in sequence; the water-proof connector is fixed on the upper hatch cover; the depth-pressure sensor is settled on the lower hatch cover to check the underwater pressure; the upper valve block, hydraulic-operated check valve and lower valve block are connected though piping in sequence; the lower valve block is fixed on the lower hatch cover; the pump outlet pressure sensor and the accumulator pressure sensor are settled on the lower valve block; the directional valve and the upper valve block are connected through piping; the hydraulic pump motor assembly and the relief valve are both connected with the lower valve block through piping; the depth-pressure sensor, pump outlet pressure sensor and accumulator pressure sensor are all connected with the control panel; the control panel is connected with the external power supply and the host computer respectively by the water-proof connector; The present invention adopts a whole hydraulic plan which performs active oil drain and passive oil return; the design of overlay valve blocks has advantages of compact structure, reliable and energy-saving.

Operating at constant depth, various embodiments are provided equipped with automatic depth-control mechanisms in dynamic devices such as lures and carriers that acquire and maintain a constant target depth when pulled through a medium such as water. The depth-control mechanism incorporates a mechanical pressure measurement of depth using a bladder with changing dimensionality and mechanical coupling to a variable angle dive plane. The measured pressure is compared with the target depth pressure causing the dive plane angle to adjust and converge to an adjustable target depth with forward motion due to retrieval or trolling. The dive plane extension is optionally a variable angle lip or bill protruding from the front of the lure or a pectoral fin-like configuration. Multi-purpose carriers are provided that can perform various underwater sensing and measuring tasks. Included are systems and methods for using a lure or platform equipped with a depth-controlling device.

A submersible inspection device used for inspection of, for example, liquid cooled electrical transformers can include a number of separate cameras for imaging the internal structure of the transformer. The submersible can be configured to communicate to a base station using a number of wireless transmitters and receivers. Signals transmitted to the submersible include command signals useful to effect an action on the submersible but also a heartbeat signal to indicate health of the transmitted signal. A redundant channel selection logic is provided to switch from a channel which no longer receives a heartbeat to another channel that includes a current heartbeat. Multiple signals can be received and evaluated in software, and another signal received via a firmware radio.

A submersible inspection device used for inspection of, for example, liquid cooled electrical transformers can include a number of separate cameras for imaging the internal structure of the transformer. The submersible can be configured to communicate to a base station using a number of wireless transmitters and receivers. Signals transmitted to the submersible include command signals useful to effect an action on the submersible but also a heartbeat signal to indicate health of the transmitted signal. A redundant channel selection logic is provided to switch from a channel which no longer receives a heartbeat to another channel that includes a current heartbeat. Multiple signals can be received and evaluated in software, and another signal received via a firmware radio.

A buoyant apparatus and method of use buoyancy to offset the weight of a load during immersion of the load in a fluid medium such as a payload manipulated by a cable and crane or by a remotely operated undersea vehicle. Buoyancy modules that can be of different size and shape have elongated supports that are attachable via complementary connection fixtures at the ends. The attached supports form a skeleton of the array. The connection fixtures are axially resiliently compressible and maintain the buoyancy modules in abutment notwithstanding shrinkage or expansion of the buoyant material due to hydrostatic pressure that increases with depth.