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1. 发明申请

WO2018117925A1 REBALANCING OF UNDERWATER VEHICLES 审中-公开
公开(公告)号：WO2018117925A1
公开(公告)日：2018-06-28
申请号：PCT/SE2016/051318
申请日：2016-12-23
申请人： SAAB AB
发明人： JOHANSSON, Nicklas , AXELSSON, Olle , ELIAS, Feras Faez
IPC分类号： B63G8/26
CPC分类号： B63G8/26 , B63G8/16
摘要： The present disclosure relates to a rebalancing device (100) for rebalancing of an underwater vehicle comprising at least one thruster and at least one storage space. The rebalancing device (100) comprises control circuitry (140). The control circuitry (140) is configured to receive sensor data comprising information relating to a depth and an attitude of the underwater vehicle, and thruster data comprising information relating to thrust and orientation of thrust of the at least one thruster. The control circuitry (140) is further configured to determine a difference between a centre of gravity, CoG, of the underwater vehicle and a centre of buoyancy, CoB, of the underwater vehicle based on the sensor data and the thruster data, and to determine a difference between a gravitational force acting on the underwater vehicle and a buoyancy of the underwater vehicle based on the sensor data and the thruster data. The control circuitry (140) is also configured to generate rebalancing information relating to a deviation of a current load distribution from an ideal load distribution based on the determined differences. The present disclosure also relates to corresponding underwater vehicles, methods and computer programs.

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