Underwater vehicles are currently the most effective equipment for exploring ocean mineral resources, whose movement performance been paid more attention by many scholars. According to the underwater vehicle integrating with 19A/Ka4-55 type ducted propellers, this paper researches the hydrodynamic characteristics of the overall vehicle in water under different movement states by leveraging CFD method. Combining structural grids and non-structural grids, an underwater vehicle model with 19A/Ka4-55 ducted propellers is constructed according to the designed propeller arrangement. A specific test rig is set up to verify the accuracy and effectiveness of the CFD method. Finally, the hydrodynamic performance of the integral underwater vehicle carrying the ducted propeller under different working conditions is further analysed. The result suggests that the vehicle still has sufficient propulsion at the inflow velocity of 1 m/s in the forward direction. Under ascending condition, the maximum running speed of the operating vehicle is around 0.5 m/s. It also has shown the feasibility and necessity of hydrodynamic performance analysis.

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To address the issue of current garbage cleanup vessels being limited to performing garbage cleaning operations in the ocean, without the capability of transferring the garbage from the ocean to the land, this paper presents a spiral-propulsion amphibious intelligent robot for land garbage cleaning and sea garbage cleaning. The design solution is as follows. A mechanical structure based on a spiral drum is proposed. The interior of the spiral drum is hollow, providing buoyancy, allowing the robot to travel both on marshy, tidal flats and on the water surface, in conjunction with underwater thrusters. Additionally, a mechanical-arm shovel is designed, which achieves two-degrees-of-freedom movement through a spiral spline guide and servo, facilitating garbage collection. Our experimental results demonstrated that the robot exhibits excellent maneuverability in marine environments and on beach, marsh, and tidal flat areas, and that it collects garbage effectively.