Development and Test of a Subsea Docking System Applied to an Autonomous Underwater Helicopter

With the increasing demand for long-term underwater observation and operation of AUVs, the subsea docking system (SDS) as a solution has been extensively concerned. Now, an autonomous underwater helicopter (AUH), as a kind of disc-shaped AUV developed in near-seafloor observation and operation, is also eager for an approach to realize its long-term underwater observation operation mode. Therefore, this paper proposes an SDS applied to the AUH. Furthermore, for the SDS to achieve its long-term underwater operation, this paper also adds a communication link that an electrical-optical-mechanical (EOM) cable connects a communication buoy to the SDS. It can charge the SDS and realize the communication between the SDS and the outside world. Finally, we have completed the development of an SDS prototype and a graphical user interface (GUI). Through the tests in the water tank and Qiandao Lake, the SDS successfully assisted the AUH in docking with it and then succeeded in locking and charging the AUH. This study not only meets the needs of the AUH but also proves a feasible approach to realizing the long-term underwater operation of SDS.