84 results about "Underwater docking" patented technology

The invention relates to a marine fishery breeding work ship deep water taking device and method, the marine fishery breeding work ship deep water taking device comprises a water taking cantilever, a submersible pump, a guide roller, a rolling part and a lifting device, the water taking cantilever is connected with a ship body through a rotation pair, and the water taking cantilever can stably descend underwater and keep the accurate water taking depth; the water taking method comprises the steps that the position and angle of a water taking cantilever are adjusted through a winding and unwinding winch, a temperature sensor at the water taking cantilever end monitors the seawater temperature in real time, and when the temperature reaches a preset value, a submersible pump is started to extract deep seawater; compared with a traditional method, the device has the characteristics of compact structure, simple operation, high efficiency and reliability; the problems that underwater butt joint is difficult, a hose is prone to damage and the like are solved, and operation efficiency and safety are remarkably improved; through the connection of the flexible short pipe, the flexibility and the stability in the water taking process are ensured, and meanwhile, the labor intensity of operators is reduced; the technology can be widely applied to marine fishery breeding, especially extraction of deep cold water resources, and has remarkable energy-saving, environment-friendly and economic benefits.

The invention discloses an AUV (Autonomous Underwater Vehicle) bionic underwater docking device and an execution locking method. The underwater docking device comprises a shell, a docking cabin, an execution locking mechanism, an infrared distance sensor and a control cabin, the shell covers the outer part of the butt joint cabin; the multiple execution locking mechanisms are arranged on the outer wall of the butt joint cabin in the same circumferential direction. Meanwhile, a plurality of connecting rods are arranged in the axis direction of the butt joint cabin; the execution locking mechanism comprises an electric push rod, a suction cup and a support. The support is connected with the outer wall of the butt joint cabin, a through hole is formed in the support, and the electric push rod is in sealed connection with the through hole; the suction cup is connected with the moving end of the electric push rod and penetrates through the through hole to be located in the support. Butt-joint holes are formed in the positions, corresponding to the suction cups, of the butt-joint cabin; the sucker penetrates through the butt joint hole to be in butt joint with the AUV; the infrared distance sensor is arranged at the closed end of the docking cabin; the control cabin is located in a closed space between the shell and the butt joint cabin. The underwater docking device is wide in applicability and high in docking success rate.

The invention belongs to the technical field of underwater docking and recovery of autonomous underwater vehicles, and particularly relates to a light vision positioning method, program and device for AUV recovery docking and a storage medium. In the image acquisition process, the exposure time is adaptively adjusted to ensure that imaging of the underwater optical beacon in the binocular image is not influenced by ambient light; performing target contour extraction on the binarized binocular image by adopting an outermost layer boundary tracking method, and screening contours of four groups of underwater optical beacons by adopting a geometric thread algorithm; a target tracking method is utilized to realize matching of each light source characteristic between single-frame binocular and global image sequence tracking, an analysis method and an iteration method are combined, a relative pose of a docking base station is solved by utilizing a real spatial position of the underwater optical beacon, and a sliding window is utilized to realize a target tracking function. All AUV poses and light source features in a period of time in history are subjected to nonlinear optimization, and the track precision is improved. According to the method, the AUV can be assisted to accurately identify the pose of the recovery dock station under the interference of the underwater environment.

One example includes an underwater docking system. The system includes an underwater dock that includes a docking rod. The docking rod includes electrical contacts around a periphery of the docking rod. The system also includes a docking assembly mounted on an underwater vehicle. The docking assembly includes an actuator and a hook assembly that includes a docking arm and a jaw assembly. The docking arm physically guides the docking rod into the jaw assembly and the actuator closes the jaw assembly around the docking rod to provide electrical connection of brush contacts of the jaw assembly with the electrical contacts of the docking rod to provide electrical power from a power source via the electrical contacts to the underwater vehicle. Each of the electrical contacts and the brush contacts can be formed from a self-passivating material.

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 invention belongs to the technical field of underwater large building construction, and relates to a large component underwater butt joint guiding system and a butt joint positioning method. The system comprises a guide bracket arranged on the top face of the tail end of an installed component and a guide rod arranged on the top face of the head end of a to-be-installed component, and one end of the guide rod extends out of the head end of the to-be-installed component; a guiding groove and a positioning groove are formed in the guiding bracket, all-directional sonar scanners are arranged on the front side and the rear side of the guiding bracket respectively, a pair of corner instruments are oppositely arranged on the outer sides of the upper portions of the two side walls of the positioning groove in the guiding bracket, each corner instrument comprises a rotary encoder and a measuring rod, and the axis of a rotary shaft of each rotary encoder is parallel to the central axis of the positioning groove. One end of the measuring rod is vertically connected to the rotating shaft of the rotary encoder, and the other end horizontally extends towards the rotary encoder on the opposite side. Through the arrangement of the omni-directional sonar scanner and the corner instrument, accurate alignment of the guide rod and the guide bracket can be achieved when the to-be-mounted component is submerged and mounted, and the mounting precision of the to-be-mounted component is remarkably improved.

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 invention relates to the technical field of underwater docking, and discloses an AUV (Autonomous Underwater Vehicle) underwater dynamic docking visual positioning method using a vector line light source, which comprises the following steps: constructing a visual marker consisting of the vector line light source consisting of four groups of lasers with changeable emission angles; obtaining the relative distance between the docking AUV and the target AUV, determining an emission angle adjustment rule based on the relative distance, and adjusting the emission angles of the four groups of lasers according to the rule; acquiring a reference image of the vector line light source by using a camera carried by the docking AUV, and performing adaptive enhancement on the reference image by taking a relative distance as an adaptive condition; performing information completion on the enhanced image, and extracting key points from the enhanced image after information completion; and carrying out relative position and attitude calculation on the extracted key points by using a PNP algorithm to obtain a final result of underwater visual positioning. According to the method, the underwater dynamic docking visual positioning precision is improved, and the docking dynamics and the fault-tolerant rate are improved in dynamic docking.

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.

The utility model relates to the technical field of underwater robot recovery, in particular to an underwater butt-joint recovery device based on an ROV, which comprises a butt-joint sleeve, an abutting rod and a butt-joint assembly used for quick butt joint, the butt-joint assembly comprises an upper butt-joint lug connected with the top end of the outer wall of the butt-joint sleeve, a butt-joint groove is formed in the butt-joint sleeve, and the butt-joint rod is arranged in the butt-joint groove. A detachable abutting rod is arranged in the butt joint groove, an abutting head is integrally formed at the top end of the abutting rod, and a rotatable clamping block is arranged on the outer wall of the butt joint sleeve. According to the utility model, the butt joint assembly is arranged, so that the device can be quickly butted with an underwater operation instrument, the butt joint time can be obviously shortened, the overall efficiency of underwater operation is improved, in addition, the structure of the device is simple, and the simple structure means that the operation is simpler and more convenient; and meanwhile, the subsequent overhaul and maintenance of the device are simpler.

The invention discloses an underwater docking device and an underwater docking method, which are widely applied to the technical field of underwater docking. The underwater docking device comprises a shell, a clamping mechanism, a cable and a control mechanism, the shell is provided with a first containing space and a first opening communicated with the first containing space, the clamping mechanism is movably connected to the end, close to the first opening, of the shell, and the clamping mechanism is used for clamping a target interface; the cable comprises a cable body and a cable plug which are connected with each other, the cable body is movably installed in the first containing space so that the cable plug can move relative to the first opening, the cable plug is used for being in butt joint with the target interface, and the control mechanism is connected to the cable plug. The control mechanism is used for driving the cable plug to move in the direction close to or away from the target interface, and / or driving the cable plug to rotate relative to the target interface. Therefore, the accuracy of underwater docking can be improved, and the reliability of underwater data interaction can be improved.

The invention provides an autonomous attitude adjustment system and method for a suspended underwater docking platform. The autonomous attitude adjustment system comprises a buoyancy adjustment module, a power control module, a sensing module and an attitude control module, the buoyancy adjusting module is arranged on the butt joint platform, and the buoyancy adjusting module adjusts the buoyancy borne by the butt joint platform through water filling and drainage; the power control module is connected with the buoyancy adjusting module and used for controlling water filling and draining of the buoyancy adjusting module. The sensing module is used for collecting attitude data of the docking platform and adjusting data of the buoyancy adjusting module, and the attitude control module and the sensing module perform data interaction; the attitude control module controls the buoyancy adjusting module through the power control module according to data collected by the sensing module. The closed-loop feedback control system is utilized, the drainage volume of each buoyancy adjusting device arranged on the platform is changed according to the platform attitude deviation, the platform buoyancy is balanced, the optimal docking attitude is kept, and the docking task requirement of one or more aircrafts is met.

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.

Docking system for an underwater vehicle including a launch and recovery system (LARS) for an underwater vehicle, a subsea docking station for an underwater vehicle, a subsea docking system for an underwater vehicle, and methods of docking an underwater vehicle, are disclosed. The docking systems 200 comprise a docking mechanism 201 for docking with the underwater vehicle 100 when in water 3. The docking mechanism is configured to capture the underwater vehicle when the underwater vehicle is in a substantially vertical orientation and is submerged.

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 utility model relates to the technical field of shield tunnel construction, and discloses a shield underwater butt joint asymmetric olive-shaped freezing curtain reinforcing water stop structure which comprises a reinforcing body formed by freezing double rows of freezing pipes of a head of a preceding shield tunneling machine and a single row of freezing pipes of a head of a following shield tunneling machine in an asymmetric arrangement mode. The following shield tunneling machine stops tunneling when tunneling is within the range of 0.5-0.7 m outside the cutter head of the preceding shield tunneling machine; according to the freezing pipes, two rows of freezing pipes are arranged at the position of an inner machine head of a preceding shield tunneling machine, a single row of freezing pipes are arranged at the position of an inner machine head of a following shield tunneling machine, the ends of the two shield tunneling machines are reinforced through a freezing method to form an asymmetric olive-shaped reinforcing water stop structure, and under the protection of the reinforcing water stop structure, the two shield tunneling machines can conduct cutterhead replacement and underwater disassembly under normal pressure; by means of the reinforcing structure, shield seabed and river bottom underwater bidirectional tunneling safe butt joint can be achieved, the long-distance underwater tunnel construction efficiency is improved, and meanwhile the underwater tunnel construction risk is reduced.

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.

Docking systems for an underwater vehicle including a launch and recovery system (LARS) for an underwater vehicle, a subsea docking station for an underwater vehicle, a subsea docking system for an underwater vehicle, and methods of docking an underwater vehicle, are disclosed. The docking systems (200) comprise a docking mechanism (201) for docking with the underwater vehicle (100) when in water (3). The docking mechanism (201) is configured to capture the underwater vehicle (100) when the underwater vehicle (100) is in a substantially vertical orientation and is submerged.

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 present invention belongs to the technical field of underwater docking, specifically, a docking test device and a test method for simulating the effect of ocean currents. An electronic cabin and a buoy are respectively provided inside the main frame. An inertial group is arranged in each of the main frames at the front and rear ends of the buoy. The inertial group at the front end is connected to the electronic cabin through a watertight cable, and the main frame is covered with a skin; the traction swing frame is rotatably connected to the front end of the main frame, the guide cover is connected to the rear end of the main frame, the vertical wing plate and the horizontal wing plate are arranged in a "cross" shape on the main frame, and the height of the vertical wing plate and the horizontal wing plate can be adjusted. The docking test device of the present invention is connected to a water pool towing vehicle through a tooling, and the dynamic characteristics of the docking test device under the effect of ocean currents can be simulated by changing the towing speed of the water pool towing vehicle. The test results show that the present invention can verify the dynamic characteristics of the docking device under the effect of ocean currents, and provide a basis for the design and optimization of suspended docking devices.

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 invention provides an underwater docking station and a using method thereof, and belongs to the field of underwater dockes.The underwater docking station is characterized in that a channel used for docking an aircraft is formed in the docking station; the movable part is arranged in the channel and moves along the channel; one end of the channel is communicated with the outside and serves as an inlet end, and the aircraft enters the channel from the inlet end; clamping jaws are arranged on the end face, facing the outside, of the movable part; after the clamping jaw locks the bow part of the aircraft, the movable part drives the aircraft to synchronously move in the direction away from the inlet end, and the aircraft enters the channel; or the movable part drives the aircraft in the channel to synchronously move towards the inlet end, and after the aircraft retreats from the channel, the clamping jaw releases the bow part of the aircraft. The movable part capable of reciprocating is arranged in the channel, the movable part moves forwards to the inlet end of the channel, when the aircraft abuts against the inlet end, the movable part actively captures the aircraft, the bow of the aircraft is locked through the clamping jaw, and the movable part pulls the aircraft to guide the aircraft into the channel.