45 results about "Underwater docking" patented technology

The invention discloses an underwater butt joint assembly, operation equipment and an operation method thereof, belongs to the technical field of underwater fluid conveying butt joint, and aims to solve the problems that an existing underwater butt joint assembly is not thorough in liquid drainage, low in sealing reliability, poor in connection stability and tedious in butt joint process. The assembly comprises a fixed joint, a connecting joint, a movable joint, a liquid inlet main pipe, a matched seal, a matched plug and a matched connecting assembly, the fixed joint and the connecting joint are detachably and fixedly connected through a bolt and correspondingly provided with a communicated liquid drainage channel, the liquid inlet main pipe fixedly penetrates through the movable joint, and a sealing circular plate is installed at one end of the liquid inlet main pipe; the plugging assembly realizes plugging of an annular groove through cooperation of a piston block and a sealing cylindrical block, the sealing assembly is in linkage with a semicircular check block to complete sealing and locking, during butt joint, after a sealing circular plate discharges liquid, a protective outer sleeve moves to expose a liquid discharging hole, a linkage structure realizes cooperative action of liquid discharging, sealing and locking, and the sealing performance and the butt joint stability are improved. The flow is simplified; and the service life is prolonged.

The application belongs to the technical field of ocean engineering, and particularly relates to an AUV underwater dynamic docking method and system based on a buoy. The underwater docking device is connected with a constant tension winch through a zero buoyancy cable; a tension sensor is used for real-time monitoring of the tension of the zero buoyancy cable; a depth sensor is used for real-time monitoring of the depth of the underwater docking device; a posture motor is used for real-time adjustment of the pitch angle of the underwater docking device; an azimuth motor is used for real-time adjustment of the azimuth angle of the underwater docking device; and a control unit executes a PID algorithm to eliminate the influence of buoy heaving motion on the depth, posture and azimuth of the underwater docking device according to the feedback of the tension sensor and the depth sensor. The AUV underwater dynamic docking method and system based on the buoy eliminate the influence of buoy motion on the underwater docking device, improve the success rate of underwater dynamic docking, solve the endurance and communication problems of AUVs, and expand the observation range of the buoy.

This invention relates to the field of autonomous docking and recovery of underwater autonomous vehicles, and in particular to a method for underwater docking guide light identification and positioning for unmanned underwater vehicles. The method includes the following steps: S1, real-time acquisition of guide light image sequences, classification and filtering using an image classification model to obtain pre-filtered guide light images; S2, guide light signal spot detection and brightness-based noise removal to obtain spot detection information; S3, determination of whether the image contains apparent guide light signals to obtain actual guide light spot detection information; S4, calculation of the relative position between the underwater vehicle and the docking station based on the guide light spot information obtained in step S3. A lightweight neural network model is used for real-time optical image recognition, improving the extraction capability of optical feature information, reducing environmental noise interference, and increasing the success rate of guide light identification, positioning accuracy, and docking success rate.

The utility model provides an underwater docking device hydraulic control system, including integrated pump station, walking centering mechanism and sealing locking mechanism, the main suction water mouth of integrated pump station is connected with P1 mouth, P2 mouth of walking centering mechanism through 1P mouth, A1 mouth and A11 mouth of walking centering mechanism are connected, B1 mouth and B11 mouth are connected, A2 mouth and A22 mouth are connected, B2 mouth and B22 mouth are connected, the spare suction water mouth of integrated pump station is connected with P3 mouth, P4 mouth of sealing locking mechanism through 2P mouth, A3 mouth and A33 mouth of sealing locking mechanism are connected, B3 mouth and B33 mouth are connected, A4 mouth and A44 mouth are connected, B4 mouth and B44 mouth are connected, 1P mouth is connected with 2P mouth, the total backwater mouth of integrated pump station is connected with T1 mouth, T2 mouth of walking centering mechanism and T3 mouth, T4 mouth of sealing locking mechanism through 1T mouth, in application, walking centering mechanism and sealing locking mechanism are driven through integrated pump station, realize the linkage control of walking centering mechanism and sealing locking mechanism both sides, complete centering sealing, therefore, the construction safety, reliability of the design is higher.

The invention provides an AFDM signal-based underwater detection and communication integrated system target detection method, which comprises the steps of obtaining a baseband symbol sequence based on communication information, and adjusting the baseband symbol sequence through an integrated system and adaptive detection end target detection to obtain an integrated waveform; a section of known pilot signal is inserted into the sonar transmitting array to form an integrated transmitting signal, and the integrated transmitting signal is transmitted underwater by the sonar transmitting array; processing a received signal to obtain an effective observation section of a target echo, and carrying out alternate optimization convenient for target detection by adopting an MM algorithm based on an equivalent receiving model; and constructing an orthogonal projection and an enhanced reliable component based on the obtained final power and the detection weight, and after a threshold is reached, performing target detection on the enhanced signal according to a judgment result to obtain a target detection result. According to the method, the non-central parameter of the statistical magnitude is detected to the maximum extent, so that the detection performance of a small target and a fuzzy target is remarkably improved.

The application discloses a one-time anti-pollution mechanism suitable for a small underwater docking station, which comprises a channel guide opening and a channel cover plate, the channel guide opening is arranged at a channel opening of the docking station, and the channel cover plate covers the channel opening in the form of a cover plate; the channel cover plate comprises an anti-rotation structure, a hinged structure and an adapter, the bottom of the channel cover plate is provided with the hinged structure, and a rotatable and detachable hinge point is formed between the hinged structure and the channel guide opening; a bolt connected with the docking station locks the channel cover plate through the adapter, and the adapter is further fixedly connected with a compression spring; in the locked state, the compression spring is compressed, once the bolt is unlocked, the upper part of the channel cover plate is instantaneously subjected to a turning force under the action of the compression spring, and the channel cover plate is turned around the bottom hinge point and then falls off from the docking station. The channel opening is covered in the form of the channel cover plate, sea creatures are effectively prevented from entering the channel, and the channel cover plate falls off without an additional power source, and the mechanism is simple and reliable.

This utility model discloses an underwater docking device for intake and drainage box culverts in thermal power plants. It includes a precast box culvert with water-stopping mechanisms evenly distributed around its ends, and symmetrically embedded tie rod brackets on both sides. The top of the precast box culvert has lifting points, and the bottom has embedded steel plates. A tie-fitting seat is installed on the top of the precast box culvert. The tie rod brackets are bolted to reinforcing tie rod bolts to secure adjacent precast box culverts. Adjacent precast box culverts are connected to the tie-fitting seat via jacks and tie rods. The jacks and tie rods, in conjunction with the jacks, adjust the spacing between adjacent precast box culverts. This utility model, by setting a tie-fitting seat and tie rod brackets on the top of the precast box culvert, and using designed jacks and jacks and tie rods to dock two precast box culvert sections, ensures that the two sections are precisely aligned to the latest design spacing, guaranteeing that the sealing of the precast box culvert interface meets design requirements, thereby ensuring the water quality of the circulating water system.

A recovery method for an autonomous underwater vehicle according to one aspect is a recovery method for recovering the autonomous underwater vehicle to a ship in a recovery system including an operator interface device, an underwater docking device that includes a camera and a propeller and that is connected to the ship by a rope, and the autonomous underwater vehicle, which is configured to be capable of docking to the underwater docking device, the recovery method including: sending an image obtained by imaging the autonomous underwater vehicle using the camera from the underwater docking device to the operator interface device; displaying the image on a display; sending an operation command corresponding to an operation of an operator from the operator interface device to the underwater docking device; operating the propeller on the basis of the operation command to cause the underwater docking device to dock to the autonomous underwater vehicle; and recovering the underwater docking device docked to the autonomous underwater vehicle to the ship by drawing in the rope on the ship.

The invention belongs to the technical field of unmanned underwater vehicle underwater operation, and relates to an unmanned underwater vehicle underwater docking semi-physical simulation system and method based on Unity 3D. The system comprises a controller used for driving a simulation model and providing a control quantity; the comprehensive display and control console integrates visual simulation software and man-machine interaction software; the visual simulation software is used for realizing underwater docking environment simulation; the man-machine interaction software is used for route planning, instruction issuing, state monitoring and data playback; the image recognition device is used for resolving the relative pose of the underwater vehicle and the recovery device; and the data storage / forwarding device is used for realizing instruction forwarding and navigation data real-time storage. The simulation method comprises the following steps: modeling a virtual model; performing butt joint collision simulation; simulating an underwater environment; carrying out dynamic modeling on the underwater vehicle; a man-machine interaction method; the invention discloses a data storage / forwarding method and a simulation platform testing method. According to the system and the method, the underwater multi-physics field coupling simulation precision and the environment rendering effect are remarkably improved, and software and hardware interaction is realized.

The flexible mechanism for deep-sea narrow space is applied to underwater docking and connecting fields.The mechanism is divided into a connecting function module and a docking function module.The connecting function module can accurately adjust and lock the interface length, the adjusting stroke is 30mm, the maximum push-pull force is 80N, the repeat positioning accuracy is ±0.06mm, the maximum self-locking force is 110N, and the total length of the module is less than 150mm;an elastic deformation link is provided, the elastic passive deformation is realized through a universal ball hinge and a compression spring sliding rod assembly, and the over-constraint lightness in each direction can be effectively reduced.The docking function module has the functions of large tolerance of ±1mm in the lateral direction, high-precision positioning of ±0.01mm in the axial direction and ±0.05mm in the lateral direction, high-rigidity locking and connecting functions, the outer diameter of the module is less than 80mm, the end face pressing force is large, the reverse self-locking capability is provided, and the reverse self-locking is realized in a passive mode.

The universal modular mounting interface comprises an underwater butt joint seat, and a robot butt joint head is inserted into a cavity in the right end of the underwater butt joint seat; the underwater butt joint seat comprises a butt joint seat electrifying unit and an automatic reset water retaining unit, and the automatic reset water retaining unit used for preventing a water source from entering is arranged in an inner cavity of the right end of the butt joint seat electrifying unit. The locking mechanism is driven by the air cylinder, the track caulking groove is precisely matched with the main driving insertion rod, rapid and firm clamping with the butt joint seat locking groove can be achieved, and the locking mechanism bears the impact of underwater strong water flow and is not prone to loosening. Meanwhile, a power connection link adopts a time-delay plugging design driven by an electric push rod, and a power connection plug is driven to be in butt joint with the underwater connector only after the cavity is dry and locked, so that electrical sparks and equipment damage possibly caused by electrifying in a state that the cavity is not in place or has water are avoided. The whole action logic is clear, the control precision is high, and the automation and safety of the docking process are guaranteed.

This utility model discloses a liquid connector, which includes a female connector, a male connector, and a gasket. One end of the male connector is installed with the female connector. The outer wall of the male connector has an adjusting ring surface that surrounds it, and the adjusting ring surface is a convex arc surface that protrudes outward. The gasket is sleeved on the male connector, and the inner wall of the gasket has a mating surface that mates with the adjusting ring surface. The gasket has a first state and a second state. In the first state, the mating surface abuts against the adjusting ring surface at a first contact position, so that the male connector maintains a first angle. In the second state, the mating surface abuts against the adjusting ring surface at a second contact position different from the first contact position, so that the male connector maintains a second angle different from the first angle. Through the design of the guide sleeve, the problem of misalignment and displacement that easily occurs when the male and female connectors are docked underwater is effectively overcome, and the convenience and success rate of the docking operation of the male and female connectors are significantly improved.

The invention discloses a method for simultaneously positioning an autonomous underwater vehicle (AUV) and an underwater fixed base (FDS) in an underwater docking homing process, which is suitable for simultaneously positioning the AUV and the FDS under the condition that unknown measurement noise exists in a navigation sensor of the AUV based on a fuzzy Q learning improved FastSLAM algorithm. The method mainly comprises a method for simultaneously positioning the underwater robot and the underwater fixed base based on a FastSLAM2.0 algorithm and a state prediction error compensation algorithm based on fuzzy Q learning. According to the method, the influence of inaccurate process noise statistical characteristics on the FastSLAM algorithm is reduced, the navigation precision of the autonomous underwater vehicle (AUV) is improved, and the influence caused by the inaccurate process noise statistical characteristics is reduced.

An underwater docking station comprises a cage frame (11), which has an inlet port (12) and delimits an internal housing (6) for accommodating an underwater vehicle (7); a first acoustic transceiver assembly (14) configured to exchange acoustic signals with the underwater vehicle (7); a first optical transceiver (15) assembly configured to exchange optical signals with the underwater vehicle (7); an integrated electronic system (28) comprising a control unit (16), which is in communication with the first acoustic transceiver assembly (14) and with the first optical transceiver assembly (15), and is configured to generate acoustic signals and / or optical signals for driving the underwater vehicle (7) along a return path toward the inlet port (12) of the cage frame (11) and to transmit said generated signals to the underwater vehicle (7) by means of the first acoustic transceiver assembly (14) and / or the first optical transceiver assembly.

This invention provides an autonomous attitude adjustment system and method for a suspended underwater docking platform, comprising: a buoyancy adjustment module, a power control module, a sensing module, and an attitude control module. The buoyancy adjustment module is installed on the docking platform and adjusts the buoyancy of the docking platform by filling and draining water. The power control module is connected to the buoyancy adjustment module and is used to control the filling and draining of the buoyancy adjustment module. The sensing module is used to collect attitude data of the docking platform and adjustment data of the buoyancy adjustment module, and the attitude control module interacts with the sensing module. The attitude control module controls the buoyancy adjustment module through the power control module based on the data collected by the sensing module. This invention utilizes a closed-loop feedback control system to change the drainage volume of each buoyancy adjustment device arranged on the platform according to the platform's attitude deviation, thereby balancing the platform's buoyancy and maintaining the optimal docking attitude to meet the docking mission requirements of single or multiple vehicles.

The present application relates to the technical field of immersed tube tunnel construction, and particularly relates to a kind of submarine immersed tube tunnel post-pouring band construction method.The method comprises the following steps: structure installation before post-pouring band construction, secondary water stop of immersed tube tunnel post-pouring band, immersed tube tunnel post-pouring band through measurement, post-pouring band reinforcement binding, post-pouring band formwork erection, post-pouring band concrete pouring and post-pouring band waterproofing measure.The present application adopts a complete and detailed set of construction process of underwater jacking post-pouring to complete the construction of immersed tube tunnel post-pouring band.Through the post-pouring band structure system, the problems of traditional submarine immersed tube tunnel underwater butt joint, such as large operation amount, low efficiency, high risk, need for transportation and lifting operation, difficulty in controlling butt joint precision, etc., are optimized.Through the research on the construction process of immersed tube tunnel post-pouring band, the control difficulty of immersed tube tunnel butt joint installation is greatly simplified, and the quality control of post-pouring band structure concrete cast-in-place and construction efficiency are also greatly guaranteed.

The invention discloses an underwater docking system for a water taking head and a construction method, relates to the technical field of underwater engineering and automatic control, and aims to solve the problems of high docking failure rate and low construction efficiency caused by large water flow disturbance, low positioning precision and inaccurate contact force control in an existing underwater docking method. According to the system, relative position information of a water taking head and a butt joint base is obtained in real time through a positioning module, a path calculation module is based on the information and introduces real-time water flow measurement data as compensation amount to calculate a target moving path, and a moving control module controls the water taking head to stably move along the path. The force monitoring and adjusting module monitors the contact force during contact and adjusts movement to complete flexible butt joint. The system is mainly used for installation and maintenance of a water taking head in ocean water taking engineering, high-precision and anti-interference underwater butt joint can be achieved, and construction safety and efficiency are improved.

This invention discloses a method for offshore construction of a modular concrete anchor, comprising: S1, pre-construction preparation: seabed topography survey, followed by prefabrication of concrete anchor sections, which are then transported to the offshore site by a semi-submersible barge and installed in conjunction with a crane vessel; S2, vessel positioning: the crane vessel first travels ahead of the semi-submersible barge to the designated location in the anchor installation area, positions itself, and anchors; subsequently, the semi-submersible barge transports the concrete anchor sections to the site, positions them, and anchors them. This invention relates to the offshore wind power industry and other related technical fields. This method for offshore construction of a modular concrete anchor employs an underwater docking installation method. Compared to the traditional integral installation method, this method significantly reduces the requirements for ship and machinery equipment, saving costs. By using a semi-submersible barge to assist in construction, partial buoyancy can be utilized to reduce the lifting weight and height, lowering the requirements for offshore lifting equipment and further saving costs.

The invention discloses an anti-collision type underwater docking device which comprises a bracket mounted on a docking platform, a trumpet-shaped guide cover located on one side of the bracket and used for guiding an AUV to dock and adjusting the docking angle of the AUV, and a dock cabin used for containing the AUV and capable of buffering axial and lateral impact force generated when the AUV is docked for the first time. The umbrella-shaped clasping buffer mechanism is arranged on one side of the dock cabin, is supported on the bracket, can secondarily buffer axial and lateral impact force generated by the AUV after the AUV penetrates through the dock cabin, and is used for clamping and fixing the AUV; the auxiliary clamping mechanism is mounted at the top of the dock cabin and is linked with the umbrella-shaped clasping buffer mechanism to assist in clamping and fixing the AUV; and the fixing and clamping mechanism is mounted on the bracket and is used for secondarily fixing the AUV. According to the invention, multiple guidance can be carried out on the AUV, and the probability of lateral contact can be effectively reduced; according to the method, staged multiple buffering can be provided in the docking process of the AUV, and the applicability is high.

This invention belongs to the field of underwater robot technology, and specifically relates to a joint device capable of autonomous underwater docking and separation. It includes an underwater robot carrier I, an underwater robot carrier II, a joint mechanism, and a plug. The plug is located at the bow of the underwater robot carrier II, and the joint mechanism is located at the stern of the underwater robot carrier I. The joint mechanism includes a drive chamber, a movable joint, and a docking chamber connected in sequence. The drive chamber is connected to the stern of the underwater robot carrier I, and the docking chamber is used to dock with the plug at the bow of the underwater robot carrier II. The movable joint has pitch and yaw degrees of freedom, and the drive chamber has the function of controlling the degrees of freedom of the movable joint and switching the locking or opening state of the docking chamber. This invention has a simple and reliable structure and a small size. The underwater robot equipped with this device can be in single-body underwater robot mode, multi-body underwater robot mode, or robotic arm mode.

A kind of underwater simulation docking device for training and docking method, propulsion system, docking platform angle and azimuth adjustment system, life support system, load substitution system and cabin pressure adjustment system are connected with control cabinet and switch board through cable and pipeline, control cabinet and switch board are connected with water surface unit through umbilical cable, energy and control signal are provided for each equipment, personnel control on water surface platform and automatic control are realized, efficient, controllable, and rescue training with full coverage of rescue scene and rescue process is realized.Through water surface remote control and automatic control, real-time and accurate adjustment of docking platform angle and azimuth can be realized underwater, rescue working condition conversion time is greatly shortened, ocean environment and seabed topography adaptability is strong, full coverage of rescue scene and rescue process is realized, controllability of training is greatly improved, training efficiency and training effect are improved.

The invention discloses a UUV (Unmanned Underwater Vehicle) underwater autonomous recovery control method, system and device based on a seated mobile docking station, and belongs to the field of unmanned underwater vehicle control science and engineering. According to the method, a transfer function expression mode is designed, the transfer function expression mode is introduced into the UUV model so as to solve the problem of transmission lag caused by the fact that the control quantity acts on a UUV execution mechanism, then a QLPV system is adopted to express a nonlinear part in a kinetic model, a function replacement method is improved, and the created UUV model is more accurate and applicable. And then a model prediction controller based on the improved UUV kinetic model is designed to improve the prediction capability and the control capability of future behaviors of the UUV, various constraint problems existing in the recovery process are solved, and the success rate of underwater docking is improved. According to the invention, the recovery system error is greatly reduced, the control precision (tracking error lt under disturbance, 0.2 m) and docking success rate (gt, 95%) are obviously superior to those of the traditional method, and a reliable solution is provided for UUV dynamic recovery.

An underwater docking system for an unmanned underwater vehicle (UUV) includes a housing structure, a motorized drive assembly, and a drive control system. The housing structure is configured to at least partially enclose and house the UUV. The motorized drive assembly is disposed on an interior of the housing structure and is positioned to frictionally engage with a surface of the UUV when the UUV is within the housing structure. The drive control system is configured to selectively activate the motorized drive assembly to apply an egress translational force to the surface of the UUV to at least partially assist an egress of the UUV out of the housing structure.

The invention provides a seabed data center and a construction method thereof, and relates to the technical field of seabed building construction. The method comprises the steps that a main corridor is built according to the position of a seabed data center, and a plurality of butt-joint ports used for mounting expansion units are formed in the side face of the main corridor; an expansion unit is built at a preset position based on the building sequence, the expansion unit comprises a branch gallery and a data shelter installed on the branch gallery, the preset position is away from the water surface, and the building sequence is determined based on the position of the butt joint opening corresponding to the expansion unit; the expansion unit is carried to the position where the main corridor is located through the transportation device, and the expansion unit and the main corridor are in underwater butt joint through the butt joint opening. The scale of the submarine data center can be flexibly expanded, the construction flexibility is good, repair and maintenance can be directly carried out through the main corridor, and the maintenance cost and the maintenance difficulty are effectively reduced.

The invention relates to the technical field of underwater comprehensive docking systems, and discloses an underwater docking system integrating navigation, wireless communication and wireless power supply, which comprises a connection end and an execution end, the connection end and the execution end are in two-way communication based on a long-distance light guiding and low-speed data link, an electric energy, communication and guiding control module, a wireless electric energy transmission module and a short-distance high-speed data link, and the execution end enters optical guiding through sound guiding. The connection end and the execution end switch low-speed or laser high-speed communication and start energy complementation according to the distance, light vision guidance is modulated, so that the system has an underwater wireless optical communication function, and meanwhile, the underwater attenuation of light is lower than that of radio. Therefore, low-speed data transmission is achieved while guiding is conducted through the execution end in the recycling process, and under detection and switching of the guiding control module and the wireless electric energy transmission module, high-speed communication and wireless energy supplementation are started after the execution end reaches the connection end.

The application discloses an ice-underwater sound-light combined guidance recovery method of an unmanned underwater vehicle and relates to the ice-underwater sound-light combined guidance recovery method. The ice-underwater sound-light combined guidance recovery method is used to solve the problems of the ice-underwater environment interference and unpredictability, the large guidance docking operation difficulty of the existing underwater docking recovery platform, the poor stability, the poor safety, the easy environmental factor interference, and the poor acoustic guidance precision. The ice-underwater sound-light combined guidance recovery method can realize the ice-underwater autonomous docking of the unmanned underwater vehicle with high robustness, high success rate, high stability, high safety and high precision. In theory, the effective guidance depth meeting the actual engineering requirements can be obtained by adjusting the side length of the regular pentagon light source array. The ice-underwater sound-light combined guidance recovery method belongs to the technical field of unmanned underwater vehicles.

The utility model relates to an underwater butt joint locking device which comprises main locking units, an auxiliary locking unit and a guide unit, the main locking units are arranged on the two sides of the auxiliary locking unit, the two main locking units are symmetrically arranged along the auxiliary locking unit, and the guide unit is arranged on the two sides of the auxiliary locking unit. A locking space for locking equipment to be butted is formed between the main locking unit and the auxiliary locking unit; the main locking unit is used for firstly locking equipment to be butted; the auxiliary locking unit is used for locking the equipment to be butted after the main locking unit is used for locking the equipment to be butted; the guiding unit is used for guiding the butt joint equipment, and the main locking unit and the auxiliary locking unit are both connected into a control box. The butt-joint device has the advantage of solving the problems that an existing butt-joint device is heavy and low in butt-joint reliability. Hydraulic drive is adopted, and the load is large; a connecting rod mechanism with a first connecting rod, a second connecting rod and a third connecting rod is adopted to reduce the size; through cooperation of the main lock box frame, the auxiliary lock box frame and the auxiliary lock box frame, the butt joint locking reliability is improved.

To reduce the time required to recover the AUV onto the ship. [Solution] A recovery method for an autonomous underwater vehicle according to one embodiment comprises an operator interface device, an underwater docking device connected to a ship by a rope, including a camera and a propeller, and an autonomous underwater vehicle configured to be dockable with the underwater docking device, and is a recovery system for recovering the autonomous underwater vehicle on a ship, wherein the recovery method for recovering the autonomous underwater vehicle on a ship is to send an image of the autonomous underwater vehicle underwater captured by the camera from the underwater docking device to the operator interface device, display the image on a display, send an operation command from the operator interface device to the underwater docking device in response to the operator's operation, operate the propeller based on the operation command to dock the underwater docking device with the autonomous underwater vehicle, and recover the underwater docking device docked with the autonomous underwater vehicle on the ship by pulling in the rope on the ship.

The invention discloses an underwater optical fiber butt joint device which comprises a male head and a female head, the male head and the female head are connected with the connecting ends of two optical fibers to be connected respectively, in a normal state, the butt joint face of the male head is in a plane shape, a male head butt joint needle head (1) in the male head is arranged on the side, away from the female head, of the butt joint face of the male head, and the butt joint face of the female head is in a plane shape. A female head butt joint needle (2) in the female head is arranged on the side, away from the male head, of the butt joint face of the female head, during butt joint, the butt joint face of the male head firstly abuts against the butt joint face of the female head, then the butt joint face of the male head and the butt joint face of the female head form axial dislocation, the male head butt joint needle (1) is ejected out in the direction of the female head, and the female head butt joint needle (2) is ejected out in the direction of the male head. And abutting connection of the male butt joint needle head (1) and the female butt joint needle head (2) is completed. The invention provides an underwater optical fiber butt joint device capable of performing underwater butt joint on optical fibers.