81 results about "Underwater docking" patented technology

The invention relates to an underwater docking, recycling and laying device for an AUV. The device comprises a carrying cylinder, wherein a guiding ring and a water suction ring are respectively, coaxially and fixedly connected to two ends of the carrying cylinder, and the other end of the water suction ring is covered with an openable-closable cover body; the ring wall of the guiding ring is a hollow shell, two ends of the outer wall of the ring wall are respectively bent towards the inside of the guiding ring and axially extend along the guiding ring to form a throat tube segment and a condensation segment, a wide opening end of the condensation segment faces to the carrying cylinder, a narrow opening end of the condensation segment sleeves and laminates on the outer part of a narrow opening end of the throat tube segment, a radial gap is formed between the two narrow opening ends so as to communicate an inner cavity of the hollow shell with an inner cavity of the guiding ring; an inner cavity of the water suction ring is communicated with the inner cavity of the hollow shell through a pipeline, and a water pump is arranged on the pipeline; and a locking mechanism and a limiting mechanism are arranged on the inner wall of the carrying cylinder and are respectively used for locking and limiting AUV. According to the underwater docking, recycling and laying device, the underwater docking, recycling and laying of the AUV can be safely, reliably and efficiently finished.

Disclosed herein are an underwater docking system and a docking method using the system. An exemplary embodiment of the present invention relates to a system for docking a target body on a docking station under water, the system comprising: a guide unit provided to the docking station to transmit at least one guide signal to the target body; an agent unit connected to the docking station by a smart cable and disposed at a position spaced apart from the docking station so that the agent unit is moored under the water in a direction corresponding to a tidal current; and the target body configured to be guided toward the agent unit by the guide signal and then connected to a portion of the agent unit.

The invention relates to an underwater folding method for half ships, which belongs to the field of ship building installation and solves the problem that conventional lifting and a method of utilizing a cart to move a ship cannot be suitable for folding two independently built half ships which are provided with independent reference lines. The underwater folding method for the half ships utilizes self weight of the half ships and difference of the buoyancy center, the half ships are docked successively when a dock drains water outwards, the half ship docked later is docked with the half ship placed on the pier first to serve as the standard, the fact that the distance between slits of a folding opening after docking is within a welding slit range allowed by the standard is guaranteed so that underwater docking of the half ships is finished; or a standard half ship is enabled not to float by the methods of ballasting, cabin breaking and the like, and after other half ships completely float, the other half ships are moved to a folding station to perform docking and folding, and ultimately the precision requirements of a principal dimension, a reference line precision, slits of the folding opening and the like are met after all the half ships are docked. The underwater folding method for the half ships effectively saves dock crane resources, is high in safety during the operation process, is simple and practical, and can be widely applied to various producing processes of large ships.

The invention relates to an underwater docking platform, and in particular to an underwater docking platform with the posture capable of being autonomously adjusted. The underwater docking platform comprises a docking laser, a parallel-connection movement platform, an inlet detection switch, a rotary table, a photoelectric detector, an electric pushing rod, a support, a front detection switch, a recovery capsule and a rear detection switch. Due to the adoption of the combined series-parallel connection mode of the parallel-connection movement platform and the rotary table, the structure is simple, accuracy is high, the bearing capacity is high, and meanwhile wide searching range is guaranteed. The photoelectric detector is located in the axial direction of the recovery capsule, and therefore imaging and interpretation are facilitated; and the photoelectric detector can be lifted up along with the support, and therefore it can be guaranteed that an underwater vehicle can smoothly enter the recovery capsule. The device is high in structural rigidity, flexible in use and high in universality; only one docking laser needs to be additionally arranged on the underwater vehicle, and therefore modification is little and popularization is easy; and the docking accuracy and the success rate can be improved to a large extent, and the underwater docking platform has the very good application and popularization value.

The invention discloses an ROV underwater docking and retracting / deploying device which comprises a top plate with holes at the middle, wherein a locking module is mounted between the holes; a telescopic mechanism is mounted at the upper part of the locking module; a cable penetrates in the telescopic mechanism through a sleeve; the cable is connected with ROV; the ROV is positioned below two top plates; a first ear plate is fixed at each of the two ends of the telescopic mechanism respectively; the first ear plate is articulated with a first hydraulic push rod; a chute is formed in the upper surface of the top plate; a slider is mounted in the chute; an opening / closing plate vertical to the top plate is mounted at the outer end of the top plate; the head part of the first hydraulic push rod is connected with the slider; a first connecting rod is articulated between the slider and the opening / closing plate; a second ear plate is fixed at the outer-side middle of the opening / closing plate; the second ear plate is articulated with a second hydraulic push rod; the head part of the second hydraulic push rod is connected with an underlying structure; the underlying structure is mounted at the bottom of the opening / closing plate through a hinge; and the ROV underwater docking and retracting / deploying device also comprises a control module for controlling the first hydraulic push rod and the second hydraulic push rod to work. The ROV underwater docking and retracting / deploying device has low cost and wide applicability.

The invention relates to a data smoothing method for underwater USBL reverse application. The method is characterized in that the method comprises the following steps: 1, obtaining the absolute position of an AUV by relative measurement of the absolute position of a USBL array; 2, performing AUV combined navigation Kalman filtering by using the absolute position of the AUV, obtained in step 1, andan SINS solution position combination, and calculating the SINS and USBL combined filtering optimized absolute position of the AUV; and 3, performing backtrack calculation on the relative positioningposition of the USBL according to the SINS and USBL combined filtering optimized absolute position of the AUV, obtained in step 2, to obtain a smooth USBL relative positioning result. The method cansmoothly output the original relative positioning output data of the USBL to make an AUV control system obtain a ideal control input, so the realization of the underwater docking of the AUV and the abutting of the AUV with an underwater base station is benefited.

The invention provides a marine deepwater oil gas pipeline axial push type hydraulic driving quick joint device, and is applied to underwater connection of deepwater oil and gas pipelines. The quick joint device sequentially carries out underwater axial positioning operation and underwater butt joint operation according to a butting device, an axial push base body and a hydraulic shaft pusher, theunderwater sealing connection operation is carried out through a sealer and a locking positioner, rapid butt joint and sealing of the quick joint device and an underwater pipeline are realized, the hydraulic shaft pusher provides driving force, the axial pushing base body realizes the axial positioning of the butting device according to the axial pushing and positioning mechanism and serves as asupporting point for axially pushing the butting device, the butting device is connected to the pipe end of the underwater pipeline according to the column surface slideway between an annular cavity and the underwater pipeline, and the locking positioner is used for completing the axial fixing connection of the butting device at the pipe end of the underwater pipeline according to the power provided by an oil inlet manifold and a locking and positioning mechanism and a locking and anchoring mechanism. The sealer completes the metal sealing between the underwater pipeline and the butting deviceaccording to the power supplied by the oil inlet manifold and the sealing and anchoring mechanism.

The invention discloses a structure form of a final joint of an immersed tunnel and relates to the technical field of communication and transportation. A foundation pad is provided with adjacent long pipe sections on the two sides. The adjacent long pipe sections on the two sides are both provided with jack pushing systems. The end face on one side of one of the adjacent long pipe sections on the two sides is in a wedge shape, the end face on the other side of the other one of the adjacent long pipe sections on the two sides is a vertical end face, and the end faces on the two sides are both provided with steel end shells. A single-sided wedge-shaped block is inserted between the end faces on the two sides of the adjacent long pipe sections on the two sides. The end faces on the two sides of the adjacent long pipe sections on the two sides are provided with the first steel end shells. GINA water stops are mounted on the peripheries of the first steel end shells. The adjacent long pipe sections on the two sides are both internally provided with end sealing walls. The two sides of the single-sided wedge-shaped block are provided with second steel end shells. The immersed final joint is small in structure size and convenient to prefabricate, and the construction quality can be ensured easily; through the double-sided wedge shape, the construction difficulty is low, compression of the water stops is facilitated, and the final joint block is not liable to be squeezed out by water pressure; and the construction speed of underwater mating of prefabricated parts is high.

The invention provides an underwater video monitoring device with a marine fouling protection function. The underwater video monitoring device comprises a base, an underwater cleaning system, a low-surface-energy coating, an underwater lighting system, an ultraviolet protection system, an underwater docking device, an underwater locking device, an underwater camera system and an underwater controlsystem. The underwater camera system and the underwater lighting system are respectively arranged at two ends of the underwater docking device; marine fouling protection is conducted on the whole device in the mode that an underwater cleaning system, a low-surface-energy coating and an ultraviolet protection system are combined; according to the invention, not only is the monitoring of an underwater production system realized, but also the influence of marine organisms on an underwater video monitoring system is effectively inhibited.

The invention provides an AUV underwater docking station and marine environment observation platform based on buoy and the AUV. The docking station comprises a cylindrical frame, one end of the frameis blocked, a stop device and a pair of clamping devices are arranged on the frame, a docking station base is arranged above the middle of the frame, and a travel switch is arranged in the center of the blocked end; the stop device comprises a stop motor, a cam and a sleeve internally provided with a spring and a stop column. An arc-shaped groove is formed in the side face of the AUV matched withthe docking station, and a radial groove is formed in the arc-shaped groove. According to the buoy with the AUV underwater docking station, the docking station is installed at the bottom of a buoy body. The marine environment observation platform based on the large anchoring buoy and the AUV comprises a buoy body, a docking station and the AUV. By means of the method, the observation capability ofthe deep sea buoy is greatly expanded, the problems of AUV energy supply, data communication and the like are solved, the AUV can avoid damage possibly caused by severe marine weather by virtue of the safe and reliable large buoy, and long-term dynamic and static combined marine environment observation can be realized.

The invention discloses a terminal vision guiding method for underwater mating of an AUV and a docking station. The method adopts a single guiding lamp and monocular vision to assist the mating between an underactuated autonomous underwater vehicle and an underwater docking station. According to the invention, based on the principles for controlling of the horizontal direction of underwater vehicles, the guiding manner of a combination of visual information and the attitude information of the underwater vehicle is designed; a controller for a horizontal underwater vehicle is also designed; andthe controller allows the underwater vehicle to realize docking along a direction facing the orientation of the docking station as much as possible, so the success rate of the mating of the underwater vehicle is increased. The method provided by the invention can simplify a vision guiding algorithm, lower requirements on the performance of signal processing chips and reduce equipment cost. Moreover, the depth dimension control principles of the underwater vehicle are cooperatively adopted to convert visual information in a vertical direction into depth information, and the visual informationis compensated by the attitude angle of the underwater vehicle, so the reliability of control in a depth direction during mating of the underwater vehicle is improved.

The invention belongs to the technical field of immersed tube engineering, and specifically provides a tunnel construction method for a short-tube-joint immersed tube. The tunnel construction method comprises the following steps: S10, performing assembly line type prefabricating production on the immersed tube, wherein the production comprises concrete pouring which is once forming, and length ofthe formed immersed tube is 20-30m long; S20m transferring the immersed tube onto a semi-submersible barge through a plurality of trolleys, wherein the length direction of the immersed tube is a forward direction thereof, the length direction of the immersed tube is perpendicular to the forward direction of the semi-submersible barge, and depth of immersion of the semi-submersible barge is smallerthan or equal to 3m; and S30, transporting the immersed tube to an immersed tube diving region through the semi-submersible barge, adopting an engineering barrage to pull and position the immersed tube, and adopting a hydraulic crimping method to accomplish underwater butt-joint of adjacent two immersed tubes. The tunnel construction method can effectively simplify barging mounting operation of the immersed tube, reduces construction difficulty, improves operation efficiency, is convenient for quality control of the immersed tube, and ensures tunnel construction quality.

An underwater docking device used between underwater manned vehicles comprises an upper unit and a lower unit, wherein the upper unit and the lower unit are respectively arranged on the two underwater manned vehicles to be docked; the upper unit and the lower unit each comprise a hollow shell; the two hollow shells are respectively in communication with compressive cabins of the two underwater manned vehicles via opening and closing doors; the interiors of the two hollow shells communicate with each other after the two hollow shells are closed; clamping columns are arranged on two sides of the end, used for docking, of the upper unit; fork frames and locking rings are arranged on two sides of the end, used for docking, of the lower unit; the fork frames are positioned between the locking rings and the hollow shell of the lower unit; the locking rings can be supported on vertical hydraulic cylinders in a vertically turnover manner; through the turnover of the locking rings, the locking rings can sleeve the clamping columns or be separated from the clamping columns; when the locking rings sleeve the clamping columns, the clamping columns are locked through up-and-down clamping of the locking rings and the fork frames; the upper unit comprises a pipeline for supplying gas to the hollow shell; and the lower unit comprises a pipeline for supplying seawater to the hollow shell and draining the seawater in the hollow shell. The underwater docking device used between the underwater manned vehicles can safely and reliably finish underwater docking between the underwater manned vehicles.

The invention provides an AUV docking method and device, and an underwater docking system. The method is performed by an AUV and comprises the steps of: obtaining ultra-short baseline USBL positioningresult information, wherein the USBL positioning result information comprises phase information and delay information of an underwater acoustic signal sent by a docking structure; based on the obtained phase information and the delay information of the underwater acoustic signal, performing calculation by using a USBL positioning solution algorithm to obtain a positioning result of the docking structure; based on the obtained delay information of the underwater acoustic signal, performing calculation by using a short baseline SBL positioning solution algorithm to obtain a positioning result of the AUV; and controlling the AUV to dock with the docking structure according to the positioning result of the docking structure and the positioning result of the AUV. By adopting the AUV docking method provided by the invention, the overall positioning accuracy of underwater acoustic positioning can be effectively improved.

The invention discloses shield equipment capable of achieving underground butt joint and a butt joint method. The problems that in the prior art, the shield butt joint efficiency is low, and the sealing effect is poor are solved. The shield equipment comprises a receiving side shield and a penetration side shield which are oppositely arranged. The receiving side shield comprises a first shield body. An axial telescopic cutter head I is arranged in the first shield body. The penetration side shield comprises a second shield body. An axial telescopic cutter head II is arranged in the second shield body. A penetration notch ring is arranged at the front end of the second shield body, and in the butt joint state, the penetration notch ring penetrates into the first shield body. A physical sealing mechanism or a chemical sealing mechanism is arranged at the position, matched with the first shield body, of the penetration notch ring. According to the shield equipment capable of achieving underground butt joint, the physical sealing mechanism or the chemical sealing mechanism is arranged at the butt joint position, different sealing and water stopping modes are adopted for different stratums, the sealing effect and the construction safety coefficient are improved, and the method is suitable for an underwater butt joint scheme under the high-water-pressure and ultra-long-distance conditions. The shield equipment capable of achieving underground butt joint and the butt joint method has certain reference significance for ultra-long-distance tunnel construction.

The invention provides an active capture underwater vehicle docking mechanism and a working method thereof, and relates to the technical field of underwater docking. The active capture underwater vehicle docking mechanism comprises a clamping module, a six-degree-of-freedom parallel robot, an underwater base, a control module and a positioning module; the control module is connected with the six-degree-of-freedom parallel robot, the six-degree-of-freedom parallel robot is connected to the underwater base, the underwater base is provided with the storage battery, the storage battery is connected with the positioning module, the top of the six-degree-of-freedom parallel robot is connected with the clamping module, and the clamping module and the six-degree-of-freedom parallel robot synchronously move through the control module; the positioning module can obtain pose information of the underwater vehicle, so that the control module correspondingly controls the pose of the gripper, and capture and energy complementation of the underwater vehicle are realized. The grabbing mechanism and method for the underwater vehicle have the advantages of being high in system positioning precision, good in dynamic performance, high in adaptability, long in service life and the like, and the problems of recycling and energy supplementing of the underwater vehicle are solved.

The invention provides a concave-convex underwater butt joint device. The butt joint device comprises a telescopic skirt, a telescopic mechanism for controlling the telescopic skirt to move, a primaryconnecting ring arranged on the telescopic skirt, a butt joint platform and a mechanical arm body arranged on the butt joint platform. The mechanical arm body is matched with the primary connecting ring; the telescopic skirt comprises a submersible vehicle connecting plate connected with the submersible vehicle, a fixed skirt arranged at the lower end of the submersible vehicle connecting plate,and a movable skirt arranged outside the fixed skirt; the primary connecting ring is arranged outside the movable skirt, annular protrusions with trapezoidal sections are arranged at the lower end ofthe fixed skirt and the lower end of the movable skirt respectively, locking mechanisms matched with the annular protrusions are arranged at the upper end of the movable skirt and the upper end of thebutt joint platform respectively, and a sealing mechanism is arranged between the movable skirt and the contact face of a skirt opening in the butt joint platform. According to the invention, underwater butt joint operation can be completed simply, conveniently, rapidly, accurately and reliably under unknown sea conditions.

The invention provides an underwater pipe fitting butting device having direct butting and adjustment functions. The underwater pipe fitting butting device consists of a splay-shaped guiding primary locating device, a primary locating and limiting structure and an adjustable pry bank; the splay-shaped guiding primary locating device is arranged at the front end of a valve bank pry; and the primary locating and limiting structure is arranged on a submarine straight pipe section. With the adoption of the structural form, primary locating is carried out through the splay-shaped guiding primary locating device at the front end of the valve bank pry and limiting structures arranged on the straight pipe section in advance; after the valve bank pry sits on the bottom, the valve bank in the valve bank pry can be leveled high and low and adjusted longitudinally and transversely, so that a ball flange in the valve bank pry is precisely connected with a rotating flange of submarine straight pipe section, and the situation that an underwater butting system has the direct butting and adjustment functions is realized.

The invention relates to an AUV long-term residence system based on marine environment energy. The system comprises a water surface energy obtaining and communication unit, an underwater energy storage and adaptation unit and an underwater docking platform, wherein the water surface energy obtaining and communication unit receives an energy obtaining instruction of a remote monitoring center, is connected with the underwater energy storage and adaptation unit through a photoelectric composite cable, transmits the obtained energy to the underwater energy storage and adaptation unit, and communicates with the underwater energy storage and adaptation unit; the underwater energy storage and adaptation unit supplies power to the underwater docking platform and communicates with the underwater docking platform; the underwater docking platform is used for being in communication connection with the AUV through short-distance radio communication when the underwater docking platform is in a docking state with the AUV, and supplementing energy to the AUV through a wireless charging device; and when being separated from the AUV, the underwater docking platform is in communication connection with the AUV through underwater acoustic communication. The system can work in an unattended mode for a long time, and the system operates independently, autonomously and efficiently; and meanwhile, clean energy in the marine environment is continuously obtained, so that the system is more environment-friendly.

The invention discloses a support safeguard system for an underwater unmanned platform, the support safeguard system comprises a shipborne supply module, a cable take-up and pay-off module and an underwater dragging supply module, the cable take-up and pay-off module is used for taking up and paying off the underwater dragging supply module, the shipborne supply module is connected with the underwater dragging supply module through the cable take-up and pay-off module, the shipborne supply module comprises a power supply output unit and a signal processing unit, and the underwater dragging supply module comprises an underwater docking unit, an underwater wireless charging unit, an underwater acoustic communication unit and an underwater wireless data communication unit. Compared with the prior art, the underwater unmanned platform is searched and fixed through the underwater acoustic communication unit and the underwater docking unit, the underwater wireless charging unit is used for wirelessly charging the underwater unmanned platform, energy of the underwater unmanned platform is supplemented, and the underwater wireless data communication unit and the underwater unmanned platform are in non-contact data exchange. Therefore, the underwater unmanned platform can continuously work in a large range for a long time.

The invention provides an AUV underwater docking propeller performance test experimental device applied to a pool laboratory. The AUV underwater docking propeller performance test experimental deviceincludes a pool, an underwater docking base station, an AUV propeller installation and movement system and a data display and preservation system. The underwater docking base station is mounted on theinner wall of the pool through a third rigid connection rod and a cantilever beam; an annular six-component mechanical sensor is connected with a propeller and a hollow transmission shaft, a second rigid connection rod passes through the inside of the hollow transmission shaft, an AUV tail structure is in rigid connection with a gear sealing cabin, and cross beams striding the two sides of the pool are fixedly connected together through a first rigid connection rod. The cross beams are driven by a travelling wheel, and the relative distance between the propeller and an underwater docking device can be changed; the first rigid connection rod is axially telescopic, to change the vertical position of the propeller; the joint of the first rigid connection rod and the cross beams can move laterally; a rotating shaft in each cross beam and the first rigid connection rod can rotate to control the attitude angle of the propeller in the underwater docking process, and thus the testing of the mechanical property of the propeller during the docking is achieved.

The invention discloses a seated AUV underwater docking platform, belongs to the technical field of underwater unmanned vehicles, and aims to solve problems that the universality is poor, deviation and collision are easy to occur and the docking time is long in the prior art. The docking platform comprises a docking platform base, an arrester wire device arranged at one end of the upper end surface of the docking platform, a catching arm device arranged at the stern section of the AUV main body, an AUV propelling device, a underwater camera, a hanging ring, a underwater acoustic communication device, a clamping jaw device, a USBL device and a underwater wireless charging device, wherein the catching arm device at least comprises a catching arm which is in running fit relative to the AUV main body, and catching is achieved through cooperation of the catching arm and the arrester wire device; the AUV propelling device is mounted at the tail end of the AUV main body; the underwater camera is mounted on the bow section of the AUV main body; the hanging ring and the underwater acoustic communication device are mounted at the top of the AUV main body, and the AUV main body communicates with the water surface through the underwater acoustic communication device; the clamping jaw device is arranged on the docking platform base, and the clamping jaw device is driven by a motor driving device to be opened and closed so as to clamp or release the AUV main body; the USBL device is used for communication between the AUV main body and the docking platform base; and the underwater wireless charging device is used for charging the AUV main body.

The invention discloses an underwater docking release device. The device has the advantages of simple structure, safety and reliability, can be carried by multiple underwater delivery carriers and isused for recovering and laying underwater equipment, so that the operation difficulty of underwater docking release is greatly simplified. The underwater docking release device comprises a power mechanism and an execution mechanism; locking or releasing of underwater instruments and equipment is realized in an execution mechanism by docking or opening two locking blocks. The device is flexible inuse and simple in mounting and use, can meet mechanical docking demands in multiple occasions and is particularly suitable for recovering and releasing the underwater instruments and equipment.

The invention relates to an underwater mobile carrier accommodated docking platform, in particular to an underwater mobile carrier pushing device. A supporting frame A is connected with a supporting frame B by supporting rods; guiding shafts are arranged between the supporting frame A and the supporting frame B; a sliding assembly is in sliding connection with the guiding shafts; a rear connectionhinge plate is mounted on the supporting frame A; a front connection hinge plate is mounted on the sliding assembly; two ends of a hydraulic cylinder are respectively hinged with the front connectionhinge plate and the rear connection hinge plate; the hydraulic cylinder drives the sliding assembly to reciprocate between the supporting frame A and the supporting frame B along the guiding shafts;the sliding assembly comprises a front slip ring and a rear slip ring which are mutually connected; suspended supporting blocks which are in sliding connection with the guiding shafts are respectivelyconnected to the front slip ring and the rear slip ring; the front connection hinge plate is mounted on the front slip ring; a bow top cover is mounted on the rear slip ring. The underwater mobile carrier accommodated docking platform disclosed by the invention has the advantages of simple structure, high reliability and high precision; the underwater mobile carrier accommodated docking platformcan do linear reciprocating motion along the given trajectory and stroke, can realize effective buffer and axial positioning of an underwater mobile carrier and provides accurate axial position for the underwater docking platform.

The invention relates to a cabled shuttle ore hauling submersible for deep sea mining and an operation method thereof. The submersible comprises a carrier frame, the interior of the carrier frame is divided into a buoyancy material arrangement area, an adjustable ballast water tank arrangement area, an equipment arrangement area and a cargo hold area, and an ore pulp cutter suction mechanical armis installed at the front part of the bow of the carrier frame; and a pumping head of the ore pulp cutter suction mechanical arm feeds ore pulp into the cargo hold area through an ore pulp pump. During operation, the shuttle ore hauling submersible is in a cabled mode, so that the influence of hard pipes of a pipeline lifting system on an operation mother ship and a mining robot is avoided; electric power and control problems are solved, and the operation capability of the submersible is improved; the cutter suction mechanical arm is adopted to self-suck minerals to the ore bin, underwater butt joint operation of the shuttle ore conveyor and the relay station is omitted, and the underwater operation difficulty is reduced; a high-capacity ballast water tank and a high-flow seawater pump areadopted to replace the weight of minerals, so that unpowered upward floating and diving of the shuttle ore hauling submersible are realized; and the use of a large-tonnage hoisting device can be avoided by the semi-submersible ore unloading mother ship, and the feasibility and efficiency of water surface ore unloading are effectively improved.

The invention relates to an AUV (Autonomous Underwater Vehicle) dynamic integrated positioning method based on visual fusion, which comprises the following steps: firstly, in an underwater environment, an integrated AUV acquires a marker image at the rear part of a target AUV by using two monocular cameras in a binocular vision system mounted at the front part of the integrated AUV, and the marker image is divided into a left image and a right image; according to the left image and the right image, thesize of the marker is acquired by resolving a binocular vision algorithm to obtain the size of the marker; in the underwater docking process, the integrated AUV utilizes two monocular cameras in a binocular vision system installed on the front portion of the integrated AUV to obtain images of markers on the rear portion of the target AUV, and according to the sizes of the markers obtained through calculation, two sets of positioning results are obtained through calculation by utilizing a monocular vision positioning algorithm; and weighted fusion is performed on the obtained two groups of positioning results to obtain a final AUV dynamic integrated positioning result. The single-purpose precision is ensured, the problem of high loss rate of binocular vision is solved, and relatively accurate positioning information is provided for dynamic docking control.

The invention discloses a segmental precast and sinking method for underwater construction. The method comprises steps as follows: a step of segmental precast: precast of reinforcing steel bars, rolled steel and / or concrete is performed in a precast site, and precast segments (1) of the reinforcing steel bars, the rolled steel and / or the concrete are obtained; a step of pipe joint formation: two or more precast segments (1) are subjected to assembling butt joint and tensioning treatment on a semi-submerged ship (2), and single pipe joints are obtained; and a step of pipe joint sinking and buttjoint: the semi-submerged ship (2) is transported to the sinking position of water surface in a floating manner and then dives, multiple single pipe joints are sunken and subjected to underwater buttjoint, and an underwater structural system is formed. According to the scheme, the problem of large construction difficulty of underwater pipe sinking can be solved, and the effect of reducing the construction difficulty of underwater pipe sinking is realized.

The invention relates to the technical field of AUV underwater butt joint, and in particular to a deformable underwater docking device. The butt-joint device comprises a butt-joint mechanism, a clamping mechanism and a butt-joint mechanism, the butt joint mechanism comprises a butt joint cage box, a guide cover and an extension spring; wherein the guide cover comprises a support rod and a cover surface; wherein a plurality of supporting rods are arranged on the cover surface, each supporting rod is connected with the butt joint cage box through an extension spring, a supporting rod rotating shaft is arranged at the rear end of the butt joint cage box, the supporting rod rotating shaft is a polygon defined by a plurality of sections of short shafts, each supporting rod is correspondingly hinged to one short shaft, and the clamping mechanism and the butt joint mechanism are arranged on the butt joint cage box. After AUV butt joint succeeds, the guide cover is automatically stored into acylindrical shape from a conical shape; when the AUV exits from a station to execute a task, the guide cover is automatically unfolded to be conical, so that the deep sea base station dives and floatsupwards very conveniently, the route resistance to the moving base station can be effectively reduced, and AUV holding and underwater plug connector plug-in connection can be automatically realized after AUV butt joint succeeds.