This disclosure relates generally to waste collection, storage, and retrieval from water. Aspects of this disclosure relate to submersible cleaning vehicles, filter systems, ships, communication systems, autonomous navigation, and computer systems. The submersible cleaning vehicle can navigate underwater to capture waste in filters. Abase station can support the submersible cleaning vehicle.

According to the invention a semi-submersible vessel including a semi-submersible platform body is provided. The semi-submersible platform body is adapted to float in a body of water wherein the platform body comprising a plurality of pontoons arranged together to form a triangular structure, a plurality of columns having a lower portion and an upper portion, the columns extending outwardly from each corner of the triangular structure, wherein each column is triangular. Further, the semi-submersible vessel includes a deck supported by the upper portion of the columns.

A floating unit capable of attaching to another floating unit by locks for assembling a floating structure according to this invention comprises a floating body being in the form of a hollow polygonal shape as viewed from a plan view. The floating body comprises an upper surface, a lower surface, and a plurality of lateral surfaces connected to said upper and lower surfaces. Said upper surface and said lower surfaces of the floating body comprise at least one upper engaging surface and at least one lower engaging surface respectively on each associated side of said polygonal floating body, wherein the upper and lower engaging surfaces are respectively adapted in order to be fitted with a locking surface of said lock, therefore, said floating body can be attached to a floating body of another floating unit.

An elastic structure anti-impact frame body for use in ships, automobiles, aircraft, trains, railcars and other moving vehicles, said frame body being a wholly or partially elastic frame, the bearing components constituting the frame body forming an arc-shape or a wave-shaped curve, and the frame body being made of an elastic material. The whole or part of the structure of the elastic structure anti-impact frame body has an elastic deformation function; on the premise that the elastic structure does not affect normal driving or bearing capacity, under the force of an impact on said frame, the frame body will elastically deform within a corresponding safe range, and can cushion and absorb the energy of the impact; the frame body, when releasing the energy of the impact, returns to the original shape, greatly improving the anti-impact security factor.

A watercraft with improved safety and stability is provided. The watercraft includes a shell defining a plurality of raceways for receiving water during certain maneuvers of the watercraft, thereby excerpting force upon the watercraft in a first direction. The shell is configured so as to prevent or otherwise inhibit the water from excerpting an opposed second force upon the watercraft. An intermediate panel of the shell provides increased flexibility, thereby serving as a shock absorber for the watercraft.

A watercraft with improved safety and stability is provided. The watercraft includes a shell defining a plurality of raceways for receiving water during certain maneuvers of the watercraft, thereby exerting force upon the watercraft in a first direction. The shell is configured so as to prevent or otherwise inhibit the water from exerting an opposed second force upon the watercraft. An intermediate panel of the shell provides increased flexibility, thereby serving as a shock absorber for the watercraft.

A watercraft with improved safety and stability is provided. The watercraft includes a shell defining a plurality of raceways for receiving water during certain maneuvers of the watercraft, thereby excerpting force upon the watercraft in a first direction. The shell is configured so as to prevent or otherwise inhibit the water from excerpting an opposed second force upon the watercraft. An intermediate panel of the shell provides increased flexibility, thereby serving as a shock absorber for the watercraft.

A watercraft with improved safety and stability is provided. The watercraft includes a shell defining a plurality of raceways for receiving water during certain maneuvers of the watercraft, thereby excerpting force upon the watercraft in a first direction. The shell is configured so as to prevent or otherwise inhibit the water from excerpting an opposed second force upon the watercraft. An intermediate panel of the shell provides increased flexibility, thereby serving as a shock absorber for the watercraft.

An apparatus may include a drone buoy configured to float on a body of water. The drone buoy may include a first configuration. The drone buoy may include a second configuration, wherein the drone buoy may be configured to transition between the first configuration and the second configuration.

A floating unit capable of attaching to another floating unit by locks for assembling a floating structure according to this invention comprises a floating body being in the form of a hollow polygonal shape as viewed from a plan view. The floating body comprises an upper surface, a lower surface, and a plurality of lateral surfaces connected to said upper and lower surfaces. Said upper surface and said lower surfaces of the floating body comprise at least one upper engaging surface and at least one lower engaging surface respectively on each associated side of said polygonal floating body, wherein the upper and lower engaging surfaces are respectively adapted in order to be fitted with a locking surface of said lock, therefore, said floating body can be attached to a floating body of another floating unit.