30results about How to "Extend underwater working time" patented technology

The invention discloses a submarine pipeline flange underwater abutting joint installation method. A main flange connecting device is installed on the abutting joint end of a submarine pipeline A, an auxiliary flange connecting device is installed on the abutting joint end of a submarine pipeline B, the submarine pipeline A to be butted and the submarine pipeline B to be butted are connected together through the main flange connecting device and the auxiliary flange connecting device, the negative influence of the marine condition on underwater flange connection can be removed, the influence of ship shake on the movement of the submarine pipeline A and the submarine pipeline B can be removed, underwater adjusting steps of a diver can be reduced, the diver can adjust the positions of the submarine pipeline A and the submarine pipeline B conveniently, the underwater operation difficulty degree of the diver can be reduced, the underwater operation time of the diver can be shortened, the case that flanges get close to each other in an aligned manner can be ensured, the force applied to a gasket of each flange is consistent, uniform deformation is generated, and the leakproofness of the flanges can be improved. The flange connection quality can be improved, the operating time of the support ship can be saved, the construction period of the whole fleet can be shortened, the working efficiency is improved, and the installation cost is saved.

Provided is a hydraulic underwater vehicle vertical shaft ocean current power generating device, wherein two vertical shaft ocean current power generating devices are respectively mounted on the shell of the vehicle, and the mounting directions of the two vertical shaft ocean current power generating devices are opposite. Three vanes are respectively mounted on the top end of each telescopic mechanism in the vertical shaft ocean current power generating devices; the vanes rotate around a central shaft under the impact of the incoming flow; the lift force and resistance suffered by the vanes are different in different azimuth angles; and tangential force which drives a spindle to rotate is generated for enabling the vanes, the telescopic mechanisms and power generating device brackets to rotate around the vertical axis of the underwater vehicle, so as to drive a permanent magnetic rotor to rotate and cut a winding stator in order to generate an induced electromotive force, thereby changing the kinetic energy of the ocean current into electric energy which is to be used by the underwater vehicle. In the hydraulic underwater vehicle vertical shaft ocean current power generating device, the power generated by acquiring the ocean current energy is in direct proportion to the elongation and turning radius of the vanes; the problem of energy resource supply for underwater vehicle is solved; the working time of the underwater vehicle is extended; and the cost is saved.

Provided is direct driving vertical axis current power generation devices for an underwater vehicle. Two vertical axis current power generation devices are arranged on an underwater vehicle shell, and the installation directions of the two vertical axis current power generation devices are opposite. Generators are fixedly arranged in central shafts through winding stators. Threes blades are arranged at the top end of a telescopic mechanism in each vertical axis current power generation device, and the blades rotate around the central shafts under the impact of coming flows and generate tangential force driving rotating shafts to rotate, so that the blades, the telescopic mechanisms and power generation device supports rotate around the longitudinal axis of the underwater vehicle to drive inner gears connected the impeller shells to rotate and further drive outer gears and the power generators to rotate, and kinetic energy of ocean current is converted into electric energy used by the underwater vehicle. By means of the direct driving vertical axis current power generation devices for the underwater vehicle, energy supply of the underwater vehicle is achieved, the working time of the underwater vehicle is prolonged, and the cost is saved.

The invention discloses a multistage separable-type unmanned underwater vehicle. The multistage separable-type unmanned underwater vehicle is characterized in that the multistage separable-type unmanned underwater vehicle comprises a vehicle shell; the vehicle head and the vehicle tail are arranged at the two ends of the vehicle shell correspondingly, and a butt-joint locking mechanism and a flexible butt-joint mechanism are arranged at the vehicle head and the vehicle tail correspondingly; the flexible butt-joint mechanism is used for being in butt joint with the next-stage vehicle head, andthe next-stage vehicle head is locked through the butt-joint locking mechanism; and a non-shaft counter-rotating dual-oar propeller is configured at the tail of the vehicle shell. The multistage separable-type unmanned underwater vehicle has the advantages of being small in noise, small in size, high in flexibility and capable of being freely separated and combined according to instructions to adapt to various underwater tasks.

The invention discloses a water surface monitoring system for a manned submersible, which comprises an underwater communication machine, a global positioning system (GPS) data receiver, an ultra-short base line computer, a switchboard and a WEB server, wherein an underwater communication machine array is in data communication link with the underwater communication machine; a GPS module and the GPS data receiver are in data communication link; an ultra-short base line base array and the ultra-short base line computer are in data communication link; the underwater communication machine, the GPS data receiver, the ultra-short base line computer and the switchboard are in data communication link; and the WEB server and the switchboard are in communication link. The water surface monitoring system for the manned submersible adopts an Ethernet structure, a WEB service mode and FLASH imaging information display, so that the water surface monitoring system has the advantages of simple structure, strong expansibility and strong portability, is humanized and visualized, is convenient to use, is applied to a manned submersible mother ship and is convenient to maintain. If the water surface monitoring system for the manned submersible fails, the whole system can normally work again only by replacing one WEB server.

The invention relates to the field of underwater operating robots, and provides an underwater autonomous operating robot which is suitable for acoustic and optical detection of various underwater operating surfaces, and an operating method of the underwater autonomous operating robot. The underwater autonomous operating robot comprises an energy power module, a mechanical structure design module,an appearance design module, a master control module, a power propelling module and a functional module, wherein the master control module comprises a strong-current electronic control cabinet and a weak-current electronic control cabin; the power propelling module comprises at least two side thrusters, at least two vertical thrusters and at least one longitudinal main thruster; and the functionalmodule comprises a doppler velocity sonar, an imaging sonar, an optical camera integrated with an LED lamp, an optical communication MODEM, a depth and height meter, a front-end cloud deck and a rear-end cloud deck. The underwater autonomous operating robot provided by the embodiment of the invention is wider in detecting range, is more flexible in detecting way, and can realize autonomous operation.

The invention relates to a deep sea equipment buoyancy regulating system and a working method thereof, and belongs to the field of marine exploration equipment. The system comprises a buoyancy oil bag, an oil outlet normally open type electromagnetic reversing valve, an overflow valve, a hydraulic motor, a throttling valve, an oil outlet normally closed type electromagnetic reversing valve, an oilstorage oil bag, a controller, an oil inlet normally open type electromagnetic reversing valve, a hydraulic pump, a pressure reducing valve, an oil inlet normally closed type electromagnetic reversing valve, a one-way valve, a pressure transmitter and a flow meter, wherein the controller is connected with the flow meter, the pressure transmitter, the oil outlet normally open type electromagneticreversing valve, the overflow valve, the throttling valve, the oil outlet normally closed type electromagnetic reversing valve, the oil inlet normally closed type electromagnetic reversing valve, themotor and the oil inlet normally open type electromagnetic reversing valve through signal lines. According to the system, electric energy can be emitted by utilizing the pressure of seawater, the working state of a reversing valve of a hydraulic system is controlled, the energy consumption in the working process of the deep sea equipment buoyancy regulating system is reduced, and the working timeof deep sea equipment is prolonged.

The invention provides a deep sea buoy hydraulic system. The system comprises an inner oil bag, an oil outlet of the inner oil bag is connected with a bidirectional gear pump, the bidirectional gear pump is respectively connected with an oil tank and an oil inlet of an outer oil bag through a supercharging unit, an oil outlet of the outer oil bag is connected with the bidirectional gear pump to form a closed hydraulic oil path, the bidirectional gear pump is matched with the supercharging unit for using, so that the problem that self-suction capacity is insufficient due to a plunger pump is solved, the energy consumption is reduced by the low-pressure bidirectional gear pump and the supercharging unit, and the underwater working time is prolonged; a double-action booster pump is adopted, the interior of the double-action booster pump adopts a mechanical structure mode to achieve supercharging, and the floating and diving flexibility is high, the problem that the occupied space is too large and the load is too large due to the fact that an air pump and an auxiliary structure such as a driving air pump are installed is avoided.

The invention discloses a gear transmission based underwater vehicle vertical shaft current power generation device. Two vertical shaft current power generation devices are respectively installed on a vehicle casing; installation directions of the two vertical shaft current generation devices are opposite; an internal gear is fixed on the external end surface of an impeller casing end plate; external gears are fixed on shafts of the electric generators; the electric generators are symmetrically installed on the end surface at the middle section of the vehicle; three blades are respectively installed at top ends of extensible mechanisms; the blades rotate surrounding a center shaft under impact of incoming flows and generate tangential force which drive a rotary shaft to rotate and accordingly the blades, the extensible mechanisms and generation device supports rotate surrounding underwater vehicle longitudinal axes, the internal gear which is connected with an impeller casing is driven to rotate, then the external gears and the electric generators are driven to rotate, and kinetic energy of currents is converted to be electric energy for the underwater vehicle. The gear transmission based underwater vehicle vertical shaft current power generation device solves the energy supply problem of the underwater vehicle, prolongs the working time of the underwater vehicle and saves costs.

The invention discloses a life support system for a large-depth underwater target. The life support system comprises a sonar array, an integrated plug device, an acoustic beacon and an integrated plugsocket which are mounted on the underwater target, and a laying and recycling device, a centralized control device, an emergency air source device and an emergency power supply device which are mounted on a water surface platform, wherein the integrated plug device is respectively connected with the laying and recycling device, the centralized control device, the emergency air source device and the emergency power supply device through a combined umbilical cord; the integrated plug device is connected to an ROV (Remotely-Operated Vehicle). After the underwater acoustic communication is established by using the sonar array and the acoustic beacon to determine the position information of the underwater target, the ROV is controlled to move and rotate by using the centralized control deviceso as to insert the integrated plug device and the integrated plug socket; gas transmission, liquid transmission, electric energy transmission and data transmission are performed with the underwater target through the combined umbilical cord so as to implement state monitoring and material replenishment for the large-depth underwater target.

The invention relates to a modular underwater intelligent equipment platform, and belongs to the field of underwater unmanned equipment. The modular underwater intelligent equipment platform consists of a main propeller, a shell supporting bottom plate, a shell upper protecting cover, a buoyancy compensation material, a control section pressure-bearing cabin, a control system, a power system, a data storage system, a standard load cabin, a mechanical arm, a front side sprayer, a rear side sprayer, an underwater sensor, an underwater sound navigation communication system, an inertia base integrated navigation system, a satellite navigation communication system and a ballast lead block. The whole machine adopts a wet-type design scheme, and internal electronic and electrical equipment is protected by means of a modularized standard load cabin. According to the modular underwater intelligent equipment platform, the adopted standardized and modularized design scheme is high in interchangeability, online replacement, online maintenance and online charging can be achieved, the underwater working time of the modular underwater intelligent equipment platform is greatly prolonged, the recycling frequency is reduced, and the deployment cost is reduced; the load can be replaced in time according to the actual requirement of a task, and most functions of various existing underwater unmanned detection equipment can be realized.

The invention provides a light-driven bionic octopus soft underwater robot which comprises a power system and a control system, the power system comprises a bionic wrist foot, the bionic wrist foot comprises at least three wrist foot units which are connected in sequence, each wrist foot unit comprises a cylindrical silicon elastomer, at least three power tubes are arranged in each wrist foot unit, and the power tube is a cylindrical cavity made of a photoresponse material. According to the light-driven bionic octopus soft underwater robot, bending and deformation in any direction or angle canbe achieved, the flexibility is high, and the operation space is large.

The invention relates to the technical field of environmental chemistry monitoring, in particular to a seawater multiparameter sensor based on a full-wavelength spectrum method. The seawater multiparameter sensor comprises a housing, wherein a filtering unit, a pressure reduction unit, a temperature-salinity monitoring and controlling unit, a detection unit, a waste liquid tank and a power supply. The seawater multiparameter sensor based on the full-wavelength spectrum method applies a single detector to achieve the multiparameter detection purpose based on spectrum detection. Due to the fact that multiparameter detection is achieved by adopting the spectrum method, most of devices are shared, the overall energy consumption can be reduced, the underwater operating time can be prolonged, the cruising power is improved, and possibility is provided for system integration. By adopting the design, the seawater multiparameter sensor is integrated in the same double-layer pressure-resistant cabin, normal work of the multiparameter sensor under the deep sea condition can be ensured, the operation that a titanium alloy coated sensor housing is designed for a single sensor is also avoided, and the cost is effectively reduced.

The invention relates to a deep sea equipment buoyancy regulating system and a working method thereof, and belongs to the field of marine exploration equipment. The system comprises a buoyancy oil bag, an oil outlet normally open type electromagnetic reversing valve, an overflow valve, a hydraulic motor, a throttling valve, an oil outlet normally closed type electromagnetic reversing valve, an oilstorage oil bag, a controller, an oil inlet normally open type electromagnetic reversing valve, a hydraulic pump, a pressure reducing valve, an oil inlet normally closed type electromagnetic reversing valve, a one-way valve, a pressure transmitter and a flow meter, wherein the controller is connected with the flow meter, the pressure transmitter, the oil outlet normally open type electromagneticreversing valve, the overflow valve, the throttling valve, the oil outlet normally closed type electromagnetic reversing valve, the oil inlet normally closed type electromagnetic reversing valve, themotor and the oil inlet normally open type electromagnetic reversing valve through signal lines. According to the system, electric energy can be emitted by utilizing the pressure of seawater, the working state of a reversing valve of a hydraulic system is controlled, the energy consumption in the working process of the deep sea equipment buoyancy regulating system is reduced, and the working timeof deep sea equipment is prolonged.

The invention discloses a buoyancy regulating device and a control method for an AUV, which mainly consists of a bow pressure-resistant oil tank (8), a storage battery (2), a depth gauge (3), a controller (4), a radio station (5), a Beidou It consists of a satellite positioning system (6), an inertial navigation system (7), a stern pressure-resistant fuel tank (1), an oil bag (9) and a combined antenna (10). The present invention realizes rapid surfacing and submerging of the AUV by effectively adjusting the volume of the oil bag of the AUV and the attitude of the AUV when surfacing and diving under the condition of known water depth and underwater environment. The advantage of the unpowered vertical snorkeling structure designed by the present invention is that the upstream area of ​​the vertical surface is reduced when floating and diving, thereby reducing the vertical resistance. Under the condition of a certain buoyancy, it can float faster Dive and reduce energy consumption, and finally achieve the purpose of extending the working time of AUV underwater.

The invention relates to the field of wireless electric energy transmission, in particular to a bidirectional wireless electric energy transmission system of an unmanned underwater vehicle, and the system comprises a wireless electric energy transmitting device arranged at a charging station, a wireless electric energy receiving and transmitting device arranged on an underwater vehicle and a wireless electric energy receiving device arranged on equipment needing energy supply; the wireless electric energy transmitting device is used for converting direct-current input electric energy into alternating magnetic energy and transmitting the alternating magnetic energy to the wireless electric energy receiving and transmitting device; the wireless electric energy receiving and transmitting device works in a receiving state and a transmitting state, and when the wireless electric energy receiving and transmitting device works in the receiving state, the wireless electric energy receiving and transmitting device is used for converting received magnetic energy into direct-current electric energy to charge the underwater vehicle; when the wireless electric energy receiving and transmitting device works in the transmitting state, the wireless electric energy receiving and transmitting device is used for converting electric energy stored by the underwater vehicle into alternating magnetic energy and transmitting the alternating magnetic energy to the wireless electric energy receiving device; and the wireless electric energy receiving device is used for converting the received magnetic field electric energy into direct-current electric energy to realize charging of equipment needing energy supply. Bidirectional wireless transmission of electric energy of the underwater vehicle is realized.

The invention discloses a positioning cruise system for an underwater helicopter and a working method of the positioning cruise system. The positioning cruise system comprises a strapdown inertial navigation system, a Doppler log velocity measurement system, an inverse ultra-short baseline positioning system and a filtering system which are mounted on the underwater helicopter; the strapdown inertial navigation system is used for acquiring three-dimensional speed, position and attitude information of the underwater helicopter; the Doppler log velocity measurement system is used for measuring the absolute velocity of the underwater helicopter; the inverse ultra-short baseline positioning system is used for positioning and navigation and comprises a Doppler compensation module of complex broadband coding, a multi-source servo time synchronization inquiry-free positioning module, a multi-sensor information fusion calibration-free positioning module and a multi-user compatible underwater ad hoc network positioning module; and the filtering system is used for processing signals output by the strapdown inertial navigation system, the Doppler log velocity measurement system and the inverse ultra-short baseline positioning system, so that the navigation precision is improved. According to the invention, the precision of underwater autonomous positioning navigation of the underwater helicopter can be improved.

The invention is applicable to the technical field of submarine pipeline maintenance and transformation, and discloses a construction method for underwater installation of submarine pipelines with underwater pressure opening operation, which includes a mud removal step, a cement weight layer and anti-corrosion layer removal step, a grinding step, Polishing step, protective frame group skid underwater installation step, drilling machine assembly installation step, testing step, drilling step and dismantling step, wherein the desilting step includes desilting and forming under the pre-installed mechanical tee part of the submarine pipeline It is a foundation pit that provides operating space for divers to work in the air next to the submarine pipeline. The present invention can effectively reduce the occurrence of mud lifting caused by divers touching the bottom during operation activities, thereby improving the visibility of seawater at the construction site, and effectively reducing the impact of tidal currents on diving operations, which is beneficial to increasing divers' underwater work Finally, good construction conditions were created for underwater pressure drilling of submarine pipelines under the sea conditions with muddy water and tidal currents.

Provided is a hydraulic underwater vehicle vertical shaft ocean current power generating device, wherein two vertical shaft ocean current power generating devices are respectively mounted on the shell of the vehicle, and the mounting directions of the two vertical shaft ocean current power generating devices are opposite. Three vanes are respectively mounted on the top end of each telescopic mechanism in the vertical shaft ocean current power generating devices; the vanes rotate around a central shaft under the impact of the incoming flow; the lift force and resistance suffered by the vanes are different in different azimuth angles; and tangential force which drives a spindle to rotate is generated for enabling the vanes, the telescopic mechanisms and power generating device brackets to rotate around the vertical axis of the underwater vehicle, so as to drive a permanent magnetic rotor to rotate and cut a winding stator in order to generate an induced electromotive force, thereby changing the kinetic energy of the ocean current into electric energy which is to be used by the underwater vehicle. In the hydraulic underwater vehicle vertical shaft ocean current power generating device, the power generated by acquiring the ocean current energy is in direct proportion to the elongation and turning radius of the vanes; the problem of energy resource supply for underwater vehicle is solved; the working time of the underwater vehicle is extended; and the cost is saved.

The invention relates to the technical field of the field of surveying, and discloses a compass bird control method and a control device. The method includes: a main control single-chip microcomputer enters a first deep sleep state when not processing work; The first deep sleep state is switched to the first working state; the peak detection circuit detects whether there is a communication carrier signal; if the peak detection circuit does not detect the communication carrier signal, the data demodulation unit does not start; if the peak detection circuit detects the communication carrier signal , the data demodulation unit is activated to demodulate the communication carrier signal, and the communication demodulation module sends the demodulated signal obtained by demodulation to the main control single-chip microcomputer. Through the above method, the power consumption control method of the main control single-chip microcomputer and the communication demodulation module in the embodiment of the present invention can greatly reduce the power consumption of the compass bird, and correspondingly reduce the frequency of replacing the battery of the compass bird, so as to prolong the underwater work of the compass bird time, and improve the efficiency of compass bird work.

The invention discloses a gear transmission based underwater vehicle vertical shaft current power generation device. Two vertical shaft current power generation devices are respectively installed on a vehicle casing; installation directions of the two vertical shaft current generation devices are opposite; an internal gear is fixed on the external end surface of an impeller casing end plate; external gears are fixed on shafts of the electric generators; the electric generators are symmetrically installed on the end surface at the middle section of the vehicle; three blades are respectively installed at top ends of extensible mechanisms; the blades rotate surrounding a center shaft under impact of incoming flows and generate tangential force which drive a rotary shaft to rotate and accordingly the blades, the extensible mechanisms and generation device supports rotate surrounding underwater vehicle longitudinal axes, the internal gear which is connected with an impeller casing is driven to rotate, then the external gears and the electric generators are driven to rotate, and kinetic energy of currents is converted to be electric energy for the underwater vehicle. The gear transmission based underwater vehicle vertical shaft current power generation device solves the energy supply problem of the underwater vehicle, prolongs the working time of the underwater vehicle and saves costs.

The invention relates to the technical field of survey, and discloses a compass bird control method and device, and the method comprises the steps: enabling a main control single-chip microcomputer to enter a first deep dormant state when the main control single-chip microcomputer does not process the work; after receiving an external interrupt signal, the master control single-chip microcomputer is switched from a first deep dormant state to a first working state; the peak detection circuit detects whether a communication carrier signal exists or not; if the peak detection circuit does not detect the communication carrier signal, the data demodulation unit is not started; and if the peak value detection circuit detects the communication carrier signal, the data demodulation unit is started to demodulate the communication carrier signal, and the communication demodulation module sends a demodulation signal obtained by demodulation to the main control single chip microcomputer. Through the above mode, the power consumption control method of the master control single-chip microcomputer and the communication demodulation module in the embodiment of the invention can greatly reduce the power consumption of the compass bird, correspondingly reduce the frequency of battery replacement of the compass bird, prolong the underwater working time of the compass bird, and improve the working efficiency of the compass bird.

The invention provides a single fin arrayed sonar equipment, comprising a hydrophone array, an array support and a flow guiding hood. The array support is fixed on the back or abdominal region of a shell of a submarine unmanned navigator. Each array element of the hydrophone array is installed on the array support and is axially arrayed along the back or abdominal region of the shell of the submarine unmanned navigator. The flow guiding hood is connected with the shell of the submarine unmanned navigator. The hydrophone array and the array support are located in a cavity formed between the flow guiding hood and the submarine unmanned navigator. The invention occupies less space, is beneficial to release the loading capability at two sides of a carrying platform and has small influence on the fluid property, the mobility and the speed of the carrying platform.

An adaptive multi-legged underwater robot is developed for offshore oil, mainly to solve the problem that most underwater robots currently have limited space for underwater operations. It is characterized in that: the device is composed of ROV body and multi-legged mechanism; the multi-legged mechanism has 6 legs, each leg has 5 degrees of freedom, there are 2 joints between the base joint and the body, and the joint between the thigh and the base joint 1, 1 at the connection between the calf and the thigh, and 1 at the connection between the foot and the calf; the sole of the foot is a suction cup structure, and the suction cup can be rotated 90 degrees for wheel rolling, and it can be used for different working conditions through the conversion of the wheel and foot. The device can rely on the propeller to suspend. It can rely on multiple legs to walk on the seabed when the road is uneven or encounter complicated pipelines. When the road is flat, it can rely on wheels to roll on the seabed. When detecting the jacket, it can rely on the suction cup to absorb pipe strings of different sizes Therefore, the stability of work and the adaptability to the environment are improved, and the motion performance and work efficiency of the underwater robot are improved.

The invention is suitable for the technical field of submarine pipeline maintenance and transformation, and discloses an underwater installation construction method for submarine pipeline underwater holing operation under pressure. The method comprises a mud removing step, a cement balance weight layer and anticorrosive layer removing step, a grinding step, a polishing step, a protection frame assembly skid underwater mounting step, a tapping machine assembly mounting step, a testing step, a tapping step and a dismounting step, wherein the mud removing step comprises the step of removing mud below a pre-installed mechanical tee joint part of the submarine pipeline to form a foundation pit used for providing an operation space for a diver to perform suspended operation beside the submarinepipeline. According to the method, the phenomenon that mud is raised due to the fact that the diver touches the bottom during operation can be effectively reduced, so that the visibility of seawater at a construction site is improved, the influence of tidal large water flow on diving operation is effectively reduced, and the underwater working time of the diver is prolonged; and finally, a good construction condition is created for underwater pressure tapping of the submarine pipeline under the sea condition that muddy water and tidal water flow influence is large.

The invention relates to dual-fin array sonar equipment, which comprises a hydrophone array, an array bracket and a guide hood. The dual-fin array sonar equipment is characterized in that: the array bracket is fixed on the back or belly of the shell of an underwater unmanned vehicle; all array elements of the hydrophone array are fixedly arranged on the array bracket; the hydrophone array comprises two parallel single-line arrays; the two parallel single-line arrays have the array elements which are arranged in a mode of mirror symmetry along the axial line of the back or belly of the shell of the underwater unmanned vehicle; the guide hood is connected with underwater unmanned vehicle shell; and the hydrophone array and the array bracket are positioned in a cavity formed between the guide hood and the underwater unmanned vehicle shell. Through a dual-dorsal fin array, a fish bone like bracket and a conformal guide design, the dual-fin array sonar equipment improves the installation suitability of a passive detection sonar on an underwater unmanned vehicle and overcomes the problem of blurry left and right boards of the single-line arrays so as to enable the underwater unmanned vehicle to judge the left and right boards of a target without driving of an engine.

The invention relates to the field of underwater operating robots, and provides an underwater autonomous operating robot which is suitable for acoustic and optical detection of various underwater operating surfaces, and an operating method of the underwater autonomous operating robot. The underwater autonomous operating robot comprises an energy power module, a mechanical structure design module,an appearance design module, a master control module, a power propelling module and a functional module, wherein the master control module comprises a strong-current electronic control cabinet and a weak-current electronic control cabin; the power propelling module comprises at least two side thrusters, at least two vertical thrusters and at least one longitudinal main thruster; and the functionalmodule comprises a doppler velocity sonar, an imaging sonar, an optical camera integrated with an LED lamp, an optical communication MODEM, a depth and height meter, a front-end cloud deck and a rear-end cloud deck. The underwater autonomous operating robot provided by the embodiment of the invention is wider in detecting range, is more flexible in detecting way, and can realize autonomous operation.