A docking device includes a docking station capable of being connected to a carrying vessel by means of a cable, the docking station comprising a guide device which comprises a set of arms which are connected to the body and each comprise a distal end and a proximal end, the set of arms being capable of being in a deployed configuration wherein it defines a space flaring towards the rear so as to enable the underwater vehicle to be guided to the stop, the distal end of each arm being located behind the proximal end of the arm in the deployed configuration, the set of arms being capable of being in a collapsed configuration wherein a distal end of each arm of the set of arms is closer to the longitudinal axis than in the deployed configuration and wherein the distal end is located in front of the position occupied by the distal end in the deployed configuration, such that a length, along the axis x, of a space defined by the set of arms behind the stop is smaller in the collapsed configuration than in the deployed configuration.

A docking device includes a docking station capable of being connected to a carrying vessel by means of a cable, the docking station comprising a guide device which comprises a set of arms which are connected to the body and each comprise a distal end and a proximal end, the set of arms being capable of being in a deployed configuration wherein it defines a space flaring towards the rear so as to enable the underwater vehicle to be guided to the stop, the distal end of each arm being located behind the proximal end of the arm in the deployed configuration, the set of arms being capable of being in a collapsed configuration wherein a distal end of each arm of the set of arms is closer to the longitudinal axis than in the deployed configuration and wherein the distal end is located in front of the position occupied by the distal end in the deployed configuration, such that a length, along the axis x, of a space defined by the set of arms behind the stop is smaller in the collapsed configuration than in the deployed configuration.

A method for performing operations using a water environment robotic system on a target section of pipeline located in an underwater environment is provided. The method includes the steps of deploying the underwater robotic vehicle into the water and visually inspecting the underwater environment to locate the pipeline and its plurality of weld joints. A cleaning operation is performed at one of the plurality of weld joints using the underwater robotic vehicle. The robotic vehicle can land on the sea floor and deploy a robotic arm to inspect the cleaned weld joint. The underwater can then swim to a next weld joint and land and perform cleaning and inspection operations, which can be repeated until all inspection sites are inspected.

A method for performing operations using a water environment robotic system on a target section of pipeline located in an underwater environment is provided. The method includes the steps of deploying the underwater robotic vehicle into the water and visually inspecting the underwater environment to locate the pipeline and its plurality of weld joints. A cleaning operation is performed at one of the plurality of weld joints using the underwater robotic vehicle. The robotic vehicle can land on the sea floor and deploy a robotic arm to inspect the cleaned weld joint. The underwater can then swim to a next weld joint and land and perform cleaning and inspection operations, which can be repeated until all inspection sites are inspected.

An approach system for an autonomous underwater vehicle approaching an underwater facility includes: an underwater facility located in water and including a light emitter configured to radially emit light; and an autonomous underwater vehicle including an underwater vehicle main body and a light receiving array provided at the underwater vehicle main body and including a plurality of light receiving elements that are independent from one another.

An approach system for an autonomous underwater vehicle approaching an underwater facility includes: an underwater facility located in water and including a light emitter configured to radially emit light; and an autonomous underwater vehicle including an underwater vehicle main body and a light receiving array provided at the underwater vehicle main body and including a plurality of light receiving elements that are independent from one another.

An underwater sonar device and an underwater detecting system. The underwater sonar device comprises a main body, a propeller, a detector and a hydrofoil assembly. The main body is an axisymmetric structure. The propeller, the detector, and the hydrofoil assembly are disposed on the main body. The detector is configured to detect and image an underwater target. The propeller is configured to drive the main body to move along a longitudinal direction and a vertical direction, and control a pitch angle, a roll angle, and a yaw angle of the main body. The hydrofoil assembly is disposed at a back of the main body, and is configured to adjust an included angle between the hydrofoil assembly and the longitudinal direction of the main body automatically based on water resistance on the hydrofoil assembly to keep the sonar device navigating at a fixed depth.

An underwater sonar device and an underwater detecting system. The underwater sonar device comprises a main body, a propeller, a detector and a hydrofoil assembly. The main body is an axisymmetric structure. The propeller, the detector, and the hydrofoil assembly are disposed on the main body. The detector is configured to detect and image an underwater target. The propeller is configured to drive the main body to move along a longitudinal direction and a vertical direction, and control a pitch angle, a roll angle, and a yaw angle of the main body. The hydrofoil assembly is disposed at a back of the main body, and is configured to adjust an included angle between the hydrofoil assembly and the longitudinal direction of the main body automatically based on water resistance on the hydrofoil assembly to keep the sonar device navigating at a fixed depth.

Disclosed is an underwater charging arrangement comprising a first connector coupled to a daughter craft and a second connector coupled to a mother craft, wherein the first and second connectors are arranged to couple underwater to facilitate the transfer of energy from the mother craft to the daughter craft.

Disclosed is an underwater charging arrangement comprising a first connector coupled to a daughter craft and a second connector coupled to a mother craft, wherein the first and second connectors are arranged to couple underwater to facilitate the transfer of energy from the mother craft to the daughter craft.