CN107187565A - A kind of system and method charged online under water - Google Patents
A kind of system and method charged online under water Download PDFInfo
- Publication number
- CN107187565A CN107187565A CN201710477805.9A CN201710477805A CN107187565A CN 107187565 A CN107187565 A CN 107187565A CN 201710477805 A CN201710477805 A CN 201710477805A CN 107187565 A CN107187565 A CN 107187565A
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- CN
- China
- Prior art keywords
- under water
- power transmission
- transmission joint
- charging
- power
- Prior art date
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/14—Conductive energy transfer
- B60L53/16—Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/32—Waterborne vessels
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
Abstract
The invention discloses a kind of system and method charged online under water, the system is connected with device to be charged under water, including：Station acquisition device, topside controller, charging device and power plug under water on device to be charged is set under water；Charging device includes underwater manipulator, peripheral sensor and power transmission joint under water；Station acquisition device gathers charging device under water and the under water positional information of device to be charged；Peripheral sensor gathers the depth under water of charging device and terrain clearance information under water；Topside controller is respectively with station acquisition device, charging device is connected under water, for adjusting charging device position under water according to positional information and peripheral sensor collection information, until the distance between device to be charged under water is within a preset range, charging signals it will send under water to underwater manipulator, to control power transmission joint to be connected to form charging circuit with power plug.Therefore, the system or method provided using the present invention can realize online charging under water, improve operating efficiency.
Description
Technical field
The present invention relates to marine technology field, more particularly to one kind is that underwater research vehicle and oceanographic equipment are provided and existed under water
The system and method for line charging.
Background technology
At present, underwater research vehicle includes deep-sea space station, autonomous underwater robot etc., oceanographic equipment include ocean subsurface buoy,
Oceanographic buoy, submarine seismograph etc., are that battery is powered, endurance is limited.Therefore, vehicle and oceanographic equipment are electric under water
Pond electricity must be reclaimed before exhausting, and can again be discharged and be devoted oneself to work after charging.But there is very big shortcoming in this working method：
There is great risk in each removal process, the damage of vehicle or equipment is likely to result in when sea situation is severe；Each recovery
Discharging again needs to take the substantial amounts of time, and operating efficiency is low, i.e., existing marine technology can not be underwater research vehicle
Or oceanographic equipment provides the device charged online under water or method.
The content of the invention
It is an object of the invention to provide a kind of system and method charged online under water, charging dress under water can be adjusted in real time
The position put, it is ensured that be accurately connected with underwater research vehicle or oceanographic equipment, realizes online charging under water, avoids simultaneously
The great risk produced during discharging again is reclaimed, operating efficiency is also substantially increased.
To achieve the above object, the invention provides following scheme：
A kind of system charged online under water, the system is connected with device to be charged under water；The system includes：Position
Harvester, under water topside controller, charging device and power plug；Wherein, the power plug be arranged on it is described under water
On device to be charged；
The station acquisition device, for gathering the first three-dimensional location coordinates information of charging device under water and described
Second three-dimensional location coordinates information of device to be charged under water；
The charging device under water, including underwater manipulator, peripheral sensor and power transmission joint；The peripheral sensor
Device, depth under water information and terrain clearance information for gathering the charging device under water；The power transmission joint, with it is described by
Plug is connected, for being connected to form charging circuit with the power plug；The underwater manipulator, connects with the power transmission joint
Connect, for controlling the flexible of the power transmission joint；
The topside controller, is connected with the station acquisition device, the charging device under water, for according to institute respectively
State the first three-dimensional location coordinates information, the second three-dimensional location coordinates information, the depth under water information and described liftoff
Elevation information, the position of the adjustment charging device under water, until the charging device under water and the device to be charged under water
The distance between within a preset range, be additionally operable to when the distance between the charging device under water and described device to be charged under water
When within a preset range, charging signals, and the charging signals under water are sent to the underwater manipulator under water are exported, to control
Make the power transmission joint to stretch out, be connected to form charging circuit with the power plug.
Optionally, the system also includes power converting circuit waterborne；
The power converting circuit waterborne, for lash ship ac power electricity to be transformed to first suitable for long-distance transmissions
Charge power supply；
The topside controller, is also connected with the power converting circuit waterborne, for charging signals to be sent out under water by described in
Deliver on the power converting circuit waterborne, to control first charge power supply being transferred in the charging device under water；
Wherein, the topside controller and the power converting circuit waterborne are arranged on lash ship.
Optionally, the system also includes lash ship armored cable；The lash ship armored cable, respectively with the control waterborne
Device, the power converting circuit waterborne and the charging device under water connection.
Optionally, the station acquisition device includes acoustics register control, the first acoustic responder and second underwater sound
Transponder；First acoustic responder set described under water on charging device；Second acoustic responder is treated under water described in setting
On charging device；The acoustics register control is arranged on the lash ship；
The acoustics register control, is connected with first acoustic responder, for obtaining the charging device under water
The first three-dimensional location coordinates information；
The acoustics register control, is connected with second acoustic responder, for obtaining the dress to be charged under water
The the second three-dimensional location coordinates information put；
The acoustics register control, is connected with the topside controller, for first three-dimensional location coordinates to be believed
Breath and the second three-dimensional location coordinates information are sent to the topside controller.
Optionally, the charging device under water also includes：Underwater power source translation circuit；
The underwater power source translation circuit, is connected with the lash ship armored cable, for receiving first charge power supply,
And changed first charge power supply received, obtain being applied to required during the device charging to be charged under water
Second charge power supply；
The underwater manipulator, is also connected with the power transmission joint, the underwater power source translation circuit, for basis respectively
The charging signals under water, output connection signal and transmission signal, and the connection signal is sent to the power transmission joint, with
Control the power transmission joint to stretch out, be connected with the power plug；The transmission signal is sent to underwater power source conversion
Circuit, to control second charge power supply to be transferred to from the underwater power source translation circuit on the power transmission joint.
Optionally, the charging device under water also includes：Charging cable；The charging cable, one end connects the power transmission
Joint, other end connection underwater power source translation circuit, for second charge power supply to be transferred to by the charging cable
On the power transmission joint.
Optionally, the charging device under water also includes：First docking supplementary module；
On the first docking supplementary module, the charging cable for being positioned close to the power transmission joint location；Described first
Docking supplementary module includes power transmission joint acoustic transducer, power transmission joint auxiliary lamp, power transmission joint mechanical locking device and sent
Electric connection strong electromagnetic locking device；Wherein, the power transmission joint acoustic transducer, first for sending the power transmission joint
Confidence ceases；The power transmission joint auxiliary lamp, the second place information for sending the power transmission joint；The power transmission joint mechanical
Locking device and the power transmission joint strong electromagnetic locking device, for after the power plug inserts the power transmission joint, inciting somebody to action
The power transmission joint and the power plug are locked, after charging is finished, and the power transmission joint and the power plug are unlocked
Depart from；
The underwater manipulator, is also connected with the described first docking supplementary module, for controlling the docking supplementary module
Open and close.
Optionally, the system also includes：Second docking supplementary module and navigation controller；
The second docking supplementary module, is arranged in the device to be charged under water, including acoustic hydrophones and optics
Sensor；The acoustic hydrophones, are connected with the power transmission joint acoustic transducer, and first for gathering the power transmission joint
Positional information；The optical sensor connection, with the power transmission joint auxiliary lamp, the second for gathering the power transmission joint
Confidence ceases；
The navigation controller, is arranged on the device to be charged under water, docked respectively with described second supplementary module,
The power plug connection, for receiving the first position information of the power transmission joint and the second confidence of the power transmission joint
Breath, and first position information and the second place information of the power transmission joint according to the power transmission joint, adjustment are described by electricity
The position of plug, until the power plug is inserted in the power transmission joint.
Optionally, the charging device under water also includes：Shell, sealed compartment, balancing weight；
The shell is processed using stainless steel welded；
The inside of the shell is provided with first acoustic responder, the peripheral sensor, the sealed compartment and institute
State balancing weight；The inside of the sealed compartment is provided with the underwater manipulator and the underwater power source translation circuit；The shell
Outside is provided with the docking supplementary module, the charging cable and the power transmission joint.
Present invention also offers a kind of method charged online under water, methods described includes：
The second of first three-dimensional location coordinates information of charging device and the device to be charged under water under water described in obtaining
Three-dimensional location coordinates information；
The depth under water information and terrain clearance information of charging device under water described in obtaining in real time；
Described charge according to the first three-dimensional location coordinates information, the second three-dimensional location coordinates information and under water
The depth under water information and terrain clearance information of device, the position of the adjustment charging device under water, until described in charge under water
The distance between device and the device to be charged under water are within a preset range；
When the distance between the charging device under water and described device to be charged under water within a preset range when, export water
Lower charging signals；
According to the charging signals under water, control the power transmission joint to be connected with the power plug, form charging circuit.
The specific embodiment provided according to the present invention, the invention discloses following technique effect：The present invention provides a kind of water
The system and method charged online down, the system is connected with device to be charged under water；The system includes：Station acquisition is filled
Put, topside controller, under water charging device and power plug；Wherein, the power plug is arranged on described to be charged under water
On device；The station acquisition device, for gathering the first three-dimensional location coordinates information of charging device under water and described
Second three-dimensional location coordinates information of device to be charged under water；The charging device under water, including the underwater manipulator, periphery
Sensor and power transmission joint；The peripheral sensor, for gather the depth under water information of charging device under water and from
Ground level information；The power transmission joint, is connected with the power plug, and charging electricity is formed for being connected with the power plug
Road；The underwater manipulator, is connected with the power transmission joint, for controlling the flexible of the power transmission joint；The control waterborne
Device, is connected with the station acquisition device, the charging device under water respectively, for being believed according to first three-dimensional location coordinates
The depth under water information and terrain clearance information of breath, the second three-dimensional location coordinates information and the charging device under water,
The adjustment charging device position under water, until the distance between the charging device under water and described device to be charged under water exist
In preset range, for working as the distance between the charging device under water and described device to be charged under water within a preset range
When, charging signals, and the charging signals under water are sent to the underwater manipulator under water are exported, to control the power transmission to connect
Head stretches out, and is connected to form charging circuit with the power plug.Therefore, the system or method provided using the present invention can be real
When adjustment charging device under water position, it is ensured that accurately be connected with underwater research vehicle or oceanographic equipment, realization is under water
Online charging, at the same also avoid reclaiming discharge again during the great risk that produces, substantially increase operating efficiency.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to institute in embodiment
The accompanying drawing needed to use is briefly described, it should be apparent that, drawings in the following description are only some implementations of the present invention
Example, for those of ordinary skill in the art, without having to pay creative labor, can also be according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 is the system primary structure schematic diagram that the embodiment of the present invention charges online under water；
Fig. 2 is the system structure diagram that the embodiment of the present invention charges online under water；
Fig. 3 is charging device structural representation under water of the embodiment of the present invention；
Fig. 4 is carrier structure schematic diagram to be charged under water of the embodiment of the present invention；
Fig. 5 is the operating diagram of online charging system under water of the embodiment of the present invention；
Fig. 6 is online charging system underwater portion operating diagram under water of the embodiment of the present invention；
Fig. 7 is the schematic flow sheet of online charging method under water of the embodiment of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
It is an object of the invention to provide a kind of system and method charged online under water, charging dress under water can be adjusted in real time
The position put, it is ensured that be accurately connected with underwater research vehicle or oceanographic equipment, realizes online charging under water, while significantly
Improve operating efficiency, it is to avoid reclaim the great risk produced during discharging again.
In order to facilitate the understanding of the purposes, features and advantages of the present invention, it is below in conjunction with the accompanying drawings and specific real
Applying mode, the present invention is further detailed explanation.
Fig. 1 is the system primary structure schematic diagram that the embodiment of the present invention charges online under water, as shown in figure 1, the present invention is carried
The system of confession is connected with device 5 to be charged under water, and the system includes：Station acquisition device 1, topside controller 2, charge under water
Device 3, power plug 4.Wherein, the power plug 4 is arranged on the device 5 to be charged under water.
The station acquisition device 1, for gathering the first three-dimensional location coordinates information of charging device 3 and the institute under water
State the second three-dimensional location coordinates information of device 5 to be charged under water.
Charging device 3 under water, including the underwater manipulator 301, peripheral sensor 302 and power transmission joint 303.
The peripheral sensor 302, depth under water information and liftoff height for charging device 3 under water described in gathering in real time
Spend information.
The power transmission joint 303, is connected with the power plug 4, and charging electricity is formed for being connected with the power plug 4
Road.
The underwater manipulator 301, is connected with the power transmission joint 303, for controlling stretching for the power transmission joint 303
Contracting.
The topside controller 2, is connected with the station acquisition device 1, the charging device under water 3, for root respectively
According to the first three-dimensional location coordinates information, the second three-dimensional location coordinates information, the depth under water information and described
Terrain clearance information, the position of charging device 3 under water of adjustment in real time, until described under water charging device 3 treated under water with described
The distance between charging device 5 within a preset range, is additionally operable to when the charging device 3 under water and the device to be charged under water
The distance between 5 within a preset range when, output charging signals under water, and by the charging signals under water send to it is described under water
Controller 301, to control the power transmission joint 303 to stretch out, is connected with the power plug 4, forms charging circuit.
Fig. 2 is the system structure diagram that the embodiment of the present invention charges online under water, as shown in Fig. 2 what the present invention was provided
System is connected with device 5 to be charged under water, and the system includes：Station acquisition device 1, under water topside controller 2, charging device
3rd, power plug 4, power converting circuit waterborne 6, lash ship armored cable 7, second docking supplementary module 8, navigation controller 9 and
Lash ship dynamic positioning system 10.
Device 5 to be charged includes rechargeable battery 501 under water.
System provided in an embodiment of the present invention needs lash ship to support.
Lash ship is equipped with dynamic positioning system 10, docks, fills with vehicle 5 to be charged under water for charging device 3 under water
In the process of electricity, by lash ship dynamic positioning system ensure lash ship low speed, at the uniform velocity, line navigation or berth.
Device 5 to be charged under water in the embodiment of the present invention can be underwater navigation controller to be charged, deep water to be charged
Space station, someone's underwater research vehicle to be charged or UNMANNED UNDERWATER VEHICLE to be charged.
Wherein, the station acquisition device 1 includes acoustics register control 101, the first acoustic responder 102 and second
Acoustic responder 103.First acoustic responder 102 is arranged on the charging device 3 under water；Second acoustic responder
103 are arranged on the device 5 to be charged under water；The acoustics register control 101 is arranged on lash ship.
The acoustics register control 101, is connected with first acoustic responder 102, described is filled under water for obtaining
First three-dimensional location coordinates information of electric installation 3.
The acoustics register control 101, is connected with second acoustic responder 103, described is treated under water for obtaining
Second three-dimensional location coordinates information of charging device 5.
The acoustics register control 101, is connected with the topside controller 2, for first three-dimensional position to be sat
Mark information and the second three-dimensional location coordinates information are sent to the topside controller 2.
Charging device 3 under water, including the underwater manipulator 301, peripheral sensor 302 and power transmission joint 303.
Peripheral sensor 302, depth under water information and terrain clearance information for charging device 3 under water described in gathering in real time.Power transmission
Joint 303, is connected with the power plug 4, for being connected to form charging circuit with the power plug 4.Underwater manipulator
301, it is connected with the power transmission joint 303, for controlling the flexible of the power transmission joint 303.
Topside controller 2, is connected with the station acquisition device 1, the charging device under water 3, for according to institute respectively
State the first three-dimensional location coordinates information, the second three-dimensional location coordinates information, the depth under water information and described liftoff
Elevation information, the position of the charging device 3 under water of adjustment in real time, until described under water charging device 3 wait to fill under water with described
The distance between electric installation 5 within a preset range, is additionally operable to when the charging device 3 under water and the device 5 to be charged under water
The distance between within a preset range when, output charging signals under water, and by the charging signals under water send to it is described under water
Controller 301, to control the power transmission joint 303 to stretch out, is connected with the power plug 4, forms charging circuit.
The power plug 4 is arranged on the device 5 to be charged under water.
The power converting circuit waterborne 6, for lash ship ac power electricity to be transformed to the suitable for long-distance transmissions
One charge power supply.
The topside controller 2, is also connected with the power converting circuit 6 waterborne, for will described in charging signals under water
Send to the power converting circuit 6 waterborne, to control first charge power supply being transferred to charging device 3 under water
In.Wherein, the topside controller 2 and the power converting circuit waterborne 6 are arranged on lash ship.
The lash ship armored cable 7, respectively with the topside controller 2, power converting circuit waterborne 6 and it is described under water
Charging device 3 is connected, for transmitting signal and transmission power supply.
Charging device 3 under water, in addition to the docking of underwater power source translation circuit 304, charging cable 305 and first are auxiliary
Help module 306.
The underwater manipulator 301, is also connected with the peripheral sensor 302, the lash ship armored cable 7 respectively, uses
It is sent in the depth under water information and terrain clearance information by the lash ship armored cable 7 in the topside controller 2,
For receiving described in the topside controller 2 output charging signals under water by the lash ship armored cable 7.
The underwater power source translation circuit 304, is connected with the lash ship armored cable 7, for receiving first charging
Power supply, and the first charge power supply received is changed, obtain second needed for the device 5 to be charged under water charges and fill
Power supply.
The underwater manipulator 301, also connects with the power transmission joint 303, the underwater power source translation circuit 304 respectively
Connect, for being sent according to the charging signals under water, output connection signal and transmission signal, and by the signal that connects to described
Power transmission joint 303, to control the power transmission joint 303 to stretch out, is connected with the power plug 4.The transmission signal is sent
To the underwater power source translation circuit 304, to control second charge power supply to be transmitted from the underwater power source translation circuit 304
Onto power transmission joint 303.
The charging cable 305, one end connects the power transmission joint 303, other end connection underwater power source translation circuit
304, for second charge power supply to be transferred into the power transmission joint 303 by charging cable 305.
On the first docking supplementary module 306, the charging cable 305 for being positioned close to the position of power transmission joint 303,
Including power transmission joint acoustic transducer 3061, power transmission joint auxiliary lamp 3602, power transmission joint mechanical locking device 3603 and send
The (not shown) of electric connection strong electromagnetic locking device 3604.
The underwater manipulator 301, is also connected with the described first docking supplementary module 306, for controlling described the
The open and close of one docking supplementary module 306, specially when the underwater manipulator 301 receives charging signals under water,
The underwater manipulator 301 controls the power transmission joint 303 to stretch out, the unlatching of the first docking supplementary module 306；When charging terminates
Afterwards, the closing of the first docking supplementary module 306, the power transmission joint 303 is retracted.
Power transmission joint acoustic transducer 3061, the first position information for sending the power transmission joint.
Power transmission joint auxiliary lamp 3602, the second place information for sending the power transmission joint.
The power transmission joint mechanical locking device 3603 and the power transmission joint strong electromagnetic locking device 3604, for working as
Power plug 4 is stated to insert after the power transmission joint 303, the power transmission joint 303 and the power plug 4 is locked；Work as charging
After finishing, the power transmission joint 303 and the power plug 4 are unlocked into disengaging.
The second docking supplementary module 8, is arranged on the device to be charged under water, including acoustic hydrophones 801 and light
Learn the (not shown) of sensor 802.
The acoustic hydrophones 801, are connected with the power transmission joint acoustic transducer 3601, are connect for obtaining the power transmission
The first position information of head.
The optical sensor 802, is connected with the power transmission joint auxiliary lamp 3602, for obtaining the power transmission joint
Second place information.
The navigation controller 9, is arranged on the device 5 to be charged under water, docks auxiliary mould with described second respectively
Block 8, the power plug 4 are connected, for receive the power transmission joint first position information and the power transmission joint second
Positional information, and first position information and the second place information of the power transmission joint according to the power transmission joint, adjust institute
The position of power plug 4 is stated until the power plug 4 is inserted in the power transmission joint 303.
In addition, the charging device under water 3 also includes shell, sealed compartment and balancing weight.
The shell is processed using stainless steel welded.
The balancing weight, the weight for increasing the charging device 3 under water.
Passed in the inside of shell provided with first acoustic responder 102, first supplementary module 306, the periphery
Sensor 302, the sealed compartment and the balancing weight.Wherein, the underwater manipulator 301 and the underwater power source translation circuit
304 are arranged in the sealed compartment.
The charging cable 305 and the power transmission joint 303 are provided with the outside of the shell.
In order to which the system that the present invention is provided is explained, a specific embodiment is provided below.
A kind of system waterborne charged online provided in an embodiment of the present invention needs lash ship to support, and the system mainly includes
Measurement and control unit, under water charging device 3, under water power plug 4, vehicle 5 to be charged, lash ship on lash ship acoustic positioning system, ship
Armored cable 7, second docks supplementary module 8.Navigate by water controller 9 and lash ship dynamic positioning system 10 etc..
The lash ship acoustic positioning system includes acoustics register control 101, the first acoustics transponder 102 and the rising tone
Learn transponder 103.
Measurement and control unit includes topside controller 2 and power converting circuit waterborne 6 on the ship.
The lash ship armored cable 7, respectively with the topside controller 2, power converting circuit waterborne 6 and it is described under water
Charging device 3 is connected, for transmitting signal and transmission power supply.
Lash ship armored cable 7 is research vessel generic configuration, is filled for the power supply after conversion to be sent into charging under water
Put 3.Lash ship armored cable 7 can be optoelectronic composite cable or coaxial sheath cable, preferably optoelectronic composite cable.
Fig. 3 is charging device structural representation under water of the embodiment of the present invention.As shown in figure 3, charging device 3 is by under water under water
Controller 301, peripheral sensor 302, power transmission joint 303 are (in order to be apparent from charging device 3 under water and device to be charged under water
Annexation between 5, is placed on Fig. 4, in detail as shown in Figure 4 by power transmission joint 303), underwater power source translation circuit 304, charging
Cable 305, first docks supplementary module 306 (in order to be apparent between charging device 3 under water and under water device 5 to be charged
Annexation, by first docking supplementary module 306 be placed on Fig. 4, in detail as shown in Figure 4), balancing weight 307, counterweight towed body (shell)
307th, load-bearing connector 309, the under water (not shown) of sealed compartment 310, the composition such as (not shown) of modem 311.
First acoustics transponder 102 is set on charging device 3 under water.
The lash ship armored cable 7 is connected with the load-bearing connector 309 in charging device 3 under water, the lash ship armouring
Cable 7, is also responsible for traction charging device 3 under water.
The counterweight towed body 308 uses stainless steel welded processing, and the inside of counterweight towed body 308 is provided with first underwater sound response
Device 102, the peripheral sensor 302, the sealed compartment 310 and the balancing weight 308.It is the underwater manipulator 301, described
Underwater power source translation circuit 304 and under water modem 311 are arranged on the inside of the sealed compartment 310.The charging electricity
Cable 305, first supplementary module 306 and the power transmission joint 303 are arranged on the outside of the counterweight towed body 308.
Fig. 4 is carrier structure schematic diagram to be charged under water of the embodiment of the present invention.As shown in figure 4, the second acoustics transponder
103rd, the docking of power plug 4, second supplementary module 8, navigation controller 9, rechargeable battery 501 set vehicle to be charged under water
On 5.Charging device 3 under water, are connected by charging cable 305, power transmission joint 303 with power plug 4, are to be charged under water
Vehicle 5 charges.
The charging device under water 3 includes one or more described charging cable 305, and every charging cable 305 is equipped with
A set of power transmission joint 303.
The charging cable 305 has certain length, hardness and tensile property, and underwater manipulator 301 as needed can
To configure different transmission voltages.
Underwater manipulator 301, is connected with the power transmission joint 303, for controlling the flexible of the power transmission joint 303.
Electric energy, for being docked with power plug 4, is transferred to by the power transmission joint 303 in a wireless form after docking successfully
Vehicle 5 to be charged under water.
Underwater research vehicle 5 to be charged, comprising underwater navigation controller, deep water space station, someone's underwater research vehicle, nobody
Underwater research vehicle etc..The underwater research vehicle to be charged 5, can be that dynamic navigation or seat bottom are motionless.
First acoustic responder 102, and acoustics register control 101 in lash ship acoustic positioning system is supporting makes
With for being accurately positioned the place three-dimensional location coordinates of charging device 3 under water.
Second acoustic responder 103, and acoustics register control 101 in lash ship acoustic positioning system is supporting makes
With for being accurately positioned the place three-dimensional location coordinates of vehicle 5 to be charged under water.
The peripheral sensor 302, including depth transducer, height sensor etc., for passing through depth transducer, height
The depth under water information and terrain clearance information of charging device 3 under water described in sensor collection.
The underwater manipulator 301, is connected with the peripheral sensor 302, for obtaining depth under water information and liftoff
Elevation information.
The underwater manipulator 301, is connected with the modem under water 311, for by depth under water information and from
Ground level information carries out coded modulation, the information after being handled.
The underwater manipulator 301, is connected with the lash ship armored cable 7, for that will be handled by lash ship armored cable 7
Information afterwards is sent to topside controller 2.
The power converting circuit waterborne 6, for lash ship ac power electricity to be transformed to the power supply suitable for long-distance transmissions,
Transmission loss is reduced, the first charge power supply is obtained.Preferably, lash ship ac power electricity is 380VAC, power converting circuit 6 waterborne
The power supply of output is 1000VDC.
The topside controller 2, is connected with the lash ship armored cable 7, for receiving and decoding the letter after the processing
Breath, obtains depth under water information and terrain clearance information.
The topside controller 2, is also connected with acoustics register control 101, for obtaining the place of charging device 3 three under water
Tie up position coordinates and under water the place three-dimensional location coordinates of vehicle 5 to be charged.
The topside controller 2, is additionally operable to according to where depth under water information, terrain clearance information, charging device 3 under water
Three-dimensional location coordinates and under water the place three-dimensional location coordinates of vehicle 5 to be charged, output control order, and pass through lash ship armouring electricity
Cable 7 is sent to underwater manipulator 301, to adjust the position of the charging device 3 under water, until the charging device 3 under water with
The distance between described device 5 to be charged under water within a preset range, when the charging device under water 3 with it is described to be charged under water
The distance between device 5 within a preset range when, export charging signals, and the charging signals under water are sent to described under water
Underwater manipulator 301, to control the power transmission joint 303 to stretch out, is connected with the power plug 4, forms charging circuit.
Wherein control command includes charge power supply open and close, the open and close of power transmission joint light, power transmission joint sound
System is opened and closed, power transmission joint is locked with unlocking, power transmission joint electromagnetic system is opened and closed etc..
Underwater manipulator 301 receives control command and controls the charging voltage and charging current of vehicle to be charged under water big
Small and control charging cable 305 and first docks the action of supplementary module 306.
Topside controller 2, can be with the real-time perception position of charging device 3, posture, charging voltage, charging current under water
Etc. information, operator and driver control the lash ship speed of a ship or plane, course etc. by these information.
The topside controller 2, is also connected with the power converting circuit 6 waterborne, for the control command to be sent
To on the power converting circuit 6 waterborne, with control by the first charge power supply by lash ship armored cable 7 be transferred to it is described under water
In power-switching circuit 304.
Underwater power source translation circuit 306, line translation is entered by the first charge power supply, is transformed to be applied to delivery to be charged under water
Device 5 charge needed for power supply and the power supply needed for charging device 3 under water.Preferably, transmitted by lash ship armored cable 7 under water
The power supply of charging device 3 be 1000VDC, underwater power source translation circuit 306 export power supply for 5VDC, 12VDC, 24VDC,
36VDC, 48VDC etc..
The underwater manipulator 301, also connects with the power transmission joint 303, the underwater power source translation circuit 304 respectively
Connect, for being sent according to the control command, output connection signal and transmission signal, and by the connection signal to the power transmission
Joint 303, to control the power transmission joint 303 to stretch out, is connected with the power plug 4；It is additionally operable to the transmission signal hair
The underwater power source translation circuit 304 is delivered to, to control second charge power supply to be passed from the underwater power source translation circuit 304
It is defeated on power transmission joint 303.
It is described first docking supplementary module 306 include power transmission joint acoustic transducer 3601, power transmission joint auxiliary lamp 3062,
Power transmission joint mechanical locking device 3063, power transmission joint strong electromagnetic locking device 3064, pulling force sensor 3605 etc..
Power transmission joint acoustic transducer 3061 and power transmission joint auxiliary lamp 3602 are smoothly inserted for the ease of power plug 4
In power transmission joint 303.
Power transmission joint mechanical locking device 3603, the function of strong electromagnetic locking device 3604 are the smoothly insertions of power plug 4
After power transmission joint 303, power transmission joint 303 and power plug 4 is locked, both unblocks depart from after charging is finished.Power transmission splicer
Tool locking device 3603, strong electromagnetic locking device 3604 automatic unlocking when power is off.
Pulling force sensor 3605 is that real-time perception power plug 4 smoothly inserts the pulling force situation after power transmission joint 303, if exceeding
In emergency circumstances, underwater manipulator 301 can order power transmission joint mechanical locking device 3603 and strong electromagnetic locking device for load
3604 unblocks even power-off unblock.
Second docking supplementary module 8 includes acoustic hydrophones 801, optical sensor 802 etc., is installed on fortune to be charged under water
Carry in device 5 and power plug 4.The function of acoustic hydrophones 801 is to receive the sound wave that power transmission joint acoustic transducer 3601 is produced
Signal, the function of optical sensor 802 is to receive the illumination sign that power transmission joint auxiliary lamp 3602 is sent, and is received all
Acoustic signals and illumination sign are sent to navigation controller 9.
Controller 9 is navigated by water, for according to acoustic signals and illumination sign, obtaining between power plug 4 and power transmission joint 303
Relative position relation information, and according to the adjustment of relative position relation the information speed of vehicle 5 to be charged, position and appearance under water
State, realizes power transmission joint 303 and the automatic butt of power plug 4.
The power plug 4, is accommodated in vehicle 5 to be charged under water during the normal/cruise of vehicle 5 to be charged under water
It is internal, it is necessary to which that vehicle 5 to be charged under water is stretched out when charging is external.
The power plug 4, after being docked with power transmission joint 303, by electric energy be sent under water vehicle 5 to be charged to filling
Battery 501 is powered.
Charging device 3 is docked with vehicle 5 to be charged under water, in charging process under water, and lash ship acoustic positioning system is real
When receive the signal of the first acoustics transponder 102 and the second acoustics transponder 103, it is determined that charging device 3 fills with waiting under water under water
The position of electric vehicle 5, depth.
Lash ship is equipped with dynamic positioning system 10, for being docked in charging device 3 under water with vehicle 5 to be charged under water,
In charging process, lash ship dynamic positioning system ensure lash ship low speed, at the uniform velocity, line navigation or berth.
Fig. 5 is the operating diagram of online charging system under water of the embodiment of the present invention.Fig. 6 is that the embodiment of the present invention exists under water
Line charging system underwater portion operating diagram, as shown in Figure 5 and Figure 6, the workflow of online charging system is under water：
1st, lash ship is navigated by water to the place marine site of vehicle 5 to be charged under water.
2nd, lash ship is contacted with vehicle 5 to be charged under water, notifies the lowsteaming of vehicle 5 to be charged under water, prepares charging.
3rd, the second acoustics transponder 103 sends acoustics location information, and lash ship is obtained in real time by acoustics register control 101
The positional information and depth information of vehicle 5 to be charged under water.
4th, boat-carrying measurement and control unit is connected by lash ship armored cable 8 with charging device 3 under water, is tested；Test is normal,
Lash ship lowsteaming, and will discharge under water into stern seawater charging device 3.
5th, the first acoustics acoustic responder sends acoustics location information, and lash ship is connect in real time by acoustics register control 101
Receive and perceive the positional information and depth information of charging device 3 under water.
6th, put lash ship armored cable 8, until under water charging device 3 arrive at it is roughly the same with vehicle 5 to be charged under water
Depth.
7th, boat-carrying measurement and control unit sends order, and charging device 3 releases charging cable 305 under water for order.
8th, lash ship is adjusted to the identical course of vehicle 5 to be charged, the roughly the same speed of a ship or plane under water, in roughly the same position
Put.
9th, the first docking supplementary module 306 is opened, and power transmission joint acoustic transducer 3061 persistently launches the sound of set frequency
Pulse is learned, power transmission joint auxiliary lamp 3602 opens optical illumination.
10th, under water on vehicle 5 to be charged power plug 4 to stretch out vehicle 5 to be charged under water external.
11st, the second docking aiding sensors 8 under water on vehicle 5 to be charged are opened, including acoustic hydrophones 801, light
Sensor 802 etc. is learned, acoustic hydrophones 801 receive the acoustic signals that power transmission joint acoustic transducer 3601 is produced, optical sensing
Device 802 receives the illumination clear signal that power transmission joint auxiliary lamp 3602 is sent, and acoustic signals and illumination clear signal are sent to
Navigate by water controller 9.
11st, navigation controller 9 under water on vehicle 5 to be charged receives acoustic signals and illumination clear signal, and according to sound
Ripple signal and illumination clear signal, obtain power plug 4 and send the relative position relation information between a joint 303, and according to institute
Relative position relation information is stated, the speed of vehicle 5 to be charged, position and posture under water is adjusted, power transmission joint 303 is realized and by electricity
The automatic butt of plug 4.
12nd, after power transmission joint 303 is docked successfully with power plug 4, power transmission joint mechanical locking device 3603 and forceful electric power
Magnetic locking device 3604 locks power transmission joint 303 with power plug 4.
13rd, charging device 3 charges by vehicle 5 to be charged under water of given mode under water.
14th, after charging terminates, charging cable 306 is powered off, power transmission joint mechanical locking device 3603 and strong electromagnetic locking dress
3604 are put to unlock power transmission joint 303 with power plug 4.
15th, power plug 4 is retracted in the body of vehicle 5 to be charged under water.
16th, boat-carrying measurement and control unit sends order, and charging device 3 reclaims charging cable 305 under water for order.
17th, lash ship reclaims lash ship armored cable 7 and under water charging device 3.
Compared with prior art, the system advantage that provides of the present invention is：
Firstth, the position of charging device under water can be adjusted in real time using system provided in an embodiment of the present invention or method
Put, it is ensured that be accurately connected with underwater research vehicle or oceanographic equipment, online charging under water is realized, while also providing significantly
Operating efficiency, it is to avoid reclaim the great risk produced during discharging again.
Secondth, the embodiment of the present invention is charged using lash ship by charging device under water for device to be charged under water, female
Ship power is sufficient, and lash ship armored cable transmittability is strong, and charging device maximum charge power is greatly shortened up to 100kW under water
Charging interval.
3rd, the embodiment of the present invention is charged using lash ship by charging device under water for device to be charged under water, female
Ship power is sufficient, and lash ship armored cable transmittability is strong, and charging device can be multiple vehicles to be charged under water simultaneously under water
Charged, greatly improve charge efficiency.
4th, the embodiment of the present invention is charged using lash ship by charging device under water for device to be charged under water, female
Ship power is sufficient, and lash ship armored cable transmittability is strong, and charging device can under water be transported for ultra-large types such as deep water space stations under water
Carry device charging.
5th, lash ship is equipped with acoustic positioning system, and charging device under water and device to be charged under water can be positioned in real time
Relative position information, lash ship adjusts ship's speed and course according to relative position information, improves docking speed.
6th, charging device uploads charging status information in real time under water, and lash ship can understand charging status information in real time, so as to
Tackle emergency situations.
To achieve the above object, present invention also offers a kind of method charged online under water.
Fig. 7 is the schematic flow sheet of online charging method under water of the embodiment of the present invention, as shown in fig. 7, what the present invention was provided
Method specifically includes following steps：
Step 701：First three-dimensional location coordinates information of charging device and the dress to be charged under water under water described in obtaining
The the second three-dimensional location coordinates information put；
Step 702：The depth under water information and terrain clearance information of charging device under water described in obtaining in real time；
Step 703：According to the first three-dimensional location coordinates information, the second three-dimensional location coordinates information and described
The depth under water information and terrain clearance information of charging device under water, the position of the adjustment charging device under water, until described in
The distance between charging device and described device to be charged under water be within a preset range under water；
Step 704：When the distance between the charging device under water and described device to be charged under water within a preset range
When, export charging signals under water；
Step 705：According to the charging signals under water, control the power transmission joint to be connected with the power plug, formed
Charging circuit.
The embodiment of each in this specification is described by the way of progressive, and what each embodiment was stressed is and other
Between the difference of embodiment, each embodiment identical similar portion mutually referring to.
Specific case used herein is set forth to the principle and embodiment of the present invention, and above example is said
The bright method and its core concept for being only intended to help to understand the present invention；Simultaneously for those of ordinary skill in the art, foundation
The thought of the present invention, will change in specific embodiments and applications.In summary, this specification content is not
It is interpreted as limitation of the present invention.
Claims (10)
1. a kind of system charged online under water, it is characterised in that the system is connected with device to be charged under water；The system
Including：Station acquisition device, under water topside controller, charging device and power plug；Wherein, the power plug is arranged on
On the device to be charged under water；
The station acquisition device, for gather the first three-dimensional location coordinates information of charging device under water and it is described under water
Second three-dimensional location coordinates information of device to be charged；
The charging device under water, including underwater manipulator, peripheral sensor and power transmission joint；The peripheral sensor, is used
In the depth under water information and terrain clearance information of charging device under water described in collection；The power transmission joint, with described by electric mortiser
Head connection, for being connected to form charging circuit with the power plug；The underwater manipulator, is connected with the power transmission joint,
For controlling the flexible of the power transmission joint；
The topside controller, is connected with the station acquisition device, the charging device under water respectively, for according to described
One three-dimensional location coordinates information, the second three-dimensional location coordinates information, the depth under water information and the terrain clearance
Information, the position of the adjustment charging device under water, until described under water between charging device and the device to be charged under water
Distance within a preset range, be additionally operable to when the distance between the charging device under water and described device to be charged under water are pre-
If when in scope, exporting charging signals, and the charging signals under water are sent to the underwater manipulator, to control under water
The stretching of power transmission joint is stated, is connected to form charging circuit with the power plug.
2. system according to claim 1, it is characterised in that the system also includes power converting circuit waterborne；
The power converting circuit waterborne, for lash ship ac power electricity to be transformed to the first charging suitable for long-distance transmissions
Power supply；
The topside controller, is also connected with the power converting circuit waterborne, for by the charging signals under water send to
On the power converting circuit waterborne, to control first charge power supply being transferred in the charging device under water；Wherein,
The topside controller and the power converting circuit waterborne are arranged on lash ship.
3. system according to claim 2, it is characterised in that the system also includes lash ship armored cable；The lash ship
Armored cable, is connected with the topside controller, the power converting circuit waterborne and the charging device under water respectively.
4. system according to claim 3, it is characterised in that the station acquisition device include acoustics register control,
First acoustic responder and the second acoustic responder；First acoustic responder set described under water on charging device；The
Two acoustic responders set described under water on device to be charged；The acoustics register control is arranged on the lash ship；
The acoustics register control, is connected with first acoustic responder, and for obtaining the charging device under water
One three-dimensional location coordinates information；
The acoustics register control, is connected with second acoustic responder, for obtaining the device to be charged under water
Second three-dimensional location coordinates information；
The acoustics register control, is connected with the topside controller, for by the first three-dimensional location coordinates information and
The second three-dimensional location coordinates information is sent to the topside controller.
5. system according to claim 4, it is characterised in that the charging device under water also includes：Underwater power source is converted
Circuit；
The underwater power source translation circuit, is connected with the lash ship armored cable, for receiving first charge power supply, and will
First charge power supply received is changed, and obtains being applied to required second during the device charging to be charged under water
Charge power supply；
The underwater manipulator, is also connected with the power transmission joint, the underwater power source translation circuit respectively, for according to described
Charging signals, export connection signal and transmission signal under water, and the connection signal is sent to the power transmission joint, with control
The power transmission joint stretches out, and is connected with the power plug；The transmission signal is sent to the underwater power source translation circuit,
To control second charge power supply to be transferred to from the underwater power source translation circuit on the power transmission joint.
6. system according to claim 5, it is characterised in that the charging device under water also includes：Charging cable；It is described
Charging cable, one end connects the power transmission joint, other end connection underwater power source translation circuit, for the described second charging is electric
Source is transferred on the power transmission joint by the charging cable.
7. system according to claim 6, it is characterised in that the charging device under water also includes：First docking auxiliary
Module；
On the first docking supplementary module, the charging cable for being positioned close to the power transmission joint location；First docking
Supplementary module connects including power transmission joint acoustic transducer, power transmission joint auxiliary lamp, power transmission joint mechanical locking device and power transmission
Head strong electromagnetic locking device；Wherein, believe the power transmission joint acoustic transducer, the first position for sending the power transmission joint
Breath；The power transmission joint auxiliary lamp, the second place information for sending the power transmission joint；The power transmission joint mechanical locking
Device and the power transmission joint strong electromagnetic locking device, for after the power plug inserts the power transmission joint, by described in
Power transmission joint and the power plug are locked, after charging is finished, and the power transmission joint and power plug unblock are departed from；
The underwater manipulator, is also connected with the described first docking supplementary module, for controlling opening for the docking supplementary module
Open and close.
8. system according to claim 7, it is characterised in that the system also includes：Second docking supplementary module and boat
Line control unit；
The second docking supplementary module, is arranged in the device to be charged under water, including acoustic hydrophones and optical sensing
Device；The acoustic hydrophones, are connected with the power transmission joint acoustic transducer, the first position for gathering the power transmission joint
Information；The optical sensor connection, with the power transmission joint auxiliary lamp, the second confidence for gathering the power transmission joint
Breath；
The navigation controller, is arranged on the device to be charged under water, docks supplementary module with described second respectively, described
Power plug is connected, for receiving the first position information of the power transmission joint and the second place information of the power transmission joint,
And first position information and the second place information of the power transmission joint according to the power transmission joint, adjust the power plug
Position, until the power plug is inserted in the power transmission joint.
9. system according to claim 8, it is characterised in that the charging device under water also includes：Shell, sealed compartment,
Balancing weight；
The shell is processed using stainless steel welded；
The inside of the shell is provided with first acoustic responder, the peripheral sensor, the sealed compartment and described matches somebody with somebody
Pouring weight；The inside of the sealed compartment is provided with the underwater manipulator and the underwater power source translation circuit；The outside of the shell
Provided with the docking supplementary module, the charging cable and the power transmission joint.
10. a kind of method charged online under water, it is characterised in that methods described is applied to claim 1-9 any one institute
The system charged online under water stated, methods described includes：
Obtain the first three-dimensional location coordinates information of charging device under water and the second three-dimensional of the device to be charged under water
Location coordinate information；
The depth under water information and terrain clearance information of charging device under water described in obtaining in real time；
According to the first three-dimensional location coordinates information, the second three-dimensional location coordinates information and the charging device under water
Depth under water information and terrain clearance information, the position of the adjustment charging device under water, until described in charging device under water
With the distance between the device to be charged under water within a preset range；
When the distance between the charging device under water and described device to be charged under water within a preset range when, output is filled under water
Electric signal；
According to the charging signals under water, control the power transmission joint to be connected with the power plug, form charging circuit.
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| CN201710477805.9A CN107187565B (en) | 2017-06-22 | 2017-06-22 | Underwater online charging system and method |
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| CN110435467A (en) * | 2019-07-02 | 2019-11-12 | 香港中文大学（深圳） | Vessel berth charging butt junction location method |
| CN110435467B (en) * | 2019-07-02 | 2021-07-06 | 深圳市人工智能与机器人研究院 | Docking positioning method for ship berthing charging |
| CN112366765A (en) * | 2020-10-29 | 2021-02-12 | 中山大学 | Self-powered wireless charging mother ship |
| CN112477643A (en) * | 2020-12-10 | 2021-03-12 | 重庆凝光科技有限公司 | Underwater charging device |
| CN112648573A (en) * | 2020-12-23 | 2021-04-13 | 宁波友康照明电器有限公司 | Underwater charging type solar energy charging water lamp |
| CN112648573B (en) * | 2020-12-23 | 2021-12-03 | 宁波友康照明电器有限公司 | Underwater charging type solar energy charging water lamp |
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