Underwater Docking Station Design for Large AUV

Autonomous Underwater Vehicles (AUVs) are robotic systems capable of independently performing marine exploration and scientific research tasks. Small and medium-sized AUVs can dock with underwater docking stations in the ocean observatory network to recharge and exchange data, thereby saving the manpower and time costs associated with frequent launching and recovery of AUVs. However, large AUVs, due to their substantial size and mass, require more stable and reliable docking devices and docking strategies with lower precision requirements for motion control. Existing underwater docking technologies are insufficient to meet the docking needs of large AUVs. This paper presents a novel underwater docking station designed to address the challenges of docking large AUVs. The station features an open-platform structure and utilizes a non-contact energy replenishment method, making it adaptable to various types of large AUVs. The docking station's internal robotic arms, powered by hydraulics, are capable of generating substantial torque and force. By grasping the main and auxiliary hooks of the large AUV, the station can precisely control the AUV's orientation. Additionally, the use of flexible ropes during the docking process ensures safety and stability. This paper also describes the docking procedure in detail, covering the phases of AUV search, connection to the blocking arm, connection to the grasping arm, interaction with the station, detachment, and recovery. The goal is to achieve underwater docking of large AUVs in the ocean observatory networks, providing efficient and reliable technical support for marine observation missions.