CN107187565B - Underwater online charging system and method - Google Patents

Underwater online charging system and method Download PDF

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Publication number
CN107187565B
CN107187565B CN201710477805.9A CN201710477805A CN107187565B CN 107187565 B CN107187565 B CN 107187565B CN 201710477805 A CN201710477805 A CN 201710477805A CN 107187565 B CN107187565 B CN 107187565B
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China
Prior art keywords
underwater
charging
power transmission
power
controller
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CN201710477805.9A
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Chinese (zh)
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CN107187565A (en
Inventor
刘保华
裴彦良
于凯本
华清峰
景春雷
杨志国
孙蕾
吕彬
宗乐
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First Institute of Oceanography SOA
National Deep Sea Center
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First Institute of Oceanography SOA
National Deep Sea Center
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Priority to CN201710477805.9A priority Critical patent/CN107187565B/en
Publication of CN107187565A publication Critical patent/CN107187565A/en
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    • 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

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Ocean & Marine Engineering (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

The invention discloses a system and a method for underwater online charging, wherein the system is connected with an underwater device to be charged, and comprises the following steps: the device comprises a position acquisition device, an on-water controller, an underwater charging device and a power receiving plug arranged on the underwater device to be charged; the underwater charging device comprises an underwater controller, a peripheral sensor and a power transmission joint; the position acquisition device acquires position information of the underwater charging device and the underwater device to be charged; the peripheral sensor acquires the underwater depth and the ground clearance information of the underwater charging device; the underwater controller is respectively connected with the position acquisition device and the underwater charging device and is used for adjusting the position of the underwater charging device according to the position information and the acquisition information of the peripheral sensor until the distance between the underwater charging device and the underwater charging device to be charged is within a preset range, and sending an underwater charging signal to the underwater controller so as to control the power transmission connector to be connected with the power receiving plug to form a charging circuit. Therefore, the system or the method provided by the invention can realize underwater online charging and improve the working efficiency.

Description

Underwater online charging system and method
Technical Field
The invention relates to the technical field of ocean, in particular to a system and a method for providing underwater on-line charging for an underwater carrier and ocean equipment.
Background
Currently, underwater vehicles comprise deep sea space stations, autonomous underwater robots and the like, marine equipment comprises marine submerged buoy, marine buoy, submarine seismograph and the like, and are powered by batteries and limited in cruising ability. Therefore, the electric energy of the battery of the underwater carrier and the ocean equipment must be recovered before the electric energy is exhausted, and the electric energy can be released again after the electric energy is charged for operation. However, this mode of operation has a great disadvantage: each recovery process has a huge risk, and the damage to the carrier or equipment can be caused when the sea condition is severe; each recovery and re-application takes a lot of time and the working efficiency is low, i.e. the existing ocean technology is not able to provide an apparatus or method for on-line charging underwater for an underwater vehicle or ocean equipment.
Disclosure of Invention
The invention aims to provide an underwater online charging system and an underwater online charging method, which can adjust the position of an underwater charging device in real time, ensure accurate connection with an underwater carrier or marine equipment, realize underwater online charging, simultaneously avoid huge risks generated in the recovery and re-application processes, and greatly improve the working efficiency.
In order to achieve the above object, the present invention provides the following solutions:
An underwater on-line charging system is connected with an underwater device to be charged; the system comprises: the device comprises a position acquisition device, a water controller, an underwater charging device and a power receiving plug; the power receiving plug is arranged on the underwater device to be charged;
the position acquisition device is used for acquiring the first three-dimensional position coordinate information of the underwater charging device and the second three-dimensional position coordinate information of the underwater device to be charged;
the underwater charging device comprises an underwater controller, a peripheral sensor and a power transmission joint; the peripheral sensor is used for collecting underwater depth information and ground clearance information of the underwater charging device; the power transmission connector is connected with the power receiving plug and is used for being connected with the power receiving plug to form a charging circuit; the underwater controller is connected with the power transmission joint and used for controlling the expansion and contraction of the power transmission joint;
the underwater controller is respectively connected with the position acquisition device and the underwater charging device, and is used for adjusting the position of the underwater charging device according to the first three-dimensional position coordinate information, the second three-dimensional position coordinate information, the underwater depth information and the ground clearance height information until the distance between the underwater charging device and the underwater device to be charged is within a preset range, outputting an underwater charging signal when the distance between the underwater charging device and the underwater device to be charged is within the preset range, and sending the underwater charging signal to the underwater controller so as to control the power transmission connector to extend and be connected with the power receiving plug to form a charging circuit.
Optionally, the system further comprises a water power conversion circuit;
the water power supply conversion circuit is used for converting mother ship alternating current power electricity into a first charging power supply suitable for long-distance transmission;
the water controller is also connected with the water power supply conversion circuit and is used for sending the underwater charging signal to the water power supply conversion circuit so as to control the first charging power supply to be transmitted into the underwater charging device; wherein, the water controller and the water power supply conversion circuit are arranged on a mother ship.
Optionally, the system further comprises a parent ship armoured cable; and the mother ship armored cable is respectively connected with the water controller, the water power supply conversion circuit and the underwater charging device.
Optionally, the position acquisition device comprises an acoustic positioning controller, a first underwater acoustic transponder and a second underwater acoustic transponder; the first underwater sound transponder is arranged on the underwater charging device; the second underwater sound transponder is arranged on the underwater device to be charged; the acoustic positioning controller is arranged on the mother ship;
the acoustic positioning controller is connected with the first underwater acoustic transponder and used for acquiring first three-dimensional position coordinate information of the underwater charging device;
The acoustic positioning controller is connected with the second underwater acoustic transponder and used for acquiring second three-dimensional position coordinate information of the underwater device to be charged;
and the acoustic positioning controller is connected with the water controller and used for sending the first three-dimensional position coordinate information and the second three-dimensional position coordinate information to the water controller.
Optionally, the underwater charging device further includes: an underwater power supply conversion circuit;
the underwater power supply conversion circuit is connected with the armored cable of the mother ship and is used for receiving the first charging power supply and converting the received first charging power supply to obtain a second charging power supply which is suitable for charging the underwater device to be charged;
the underwater controller is also respectively connected with the power transmission joint and the underwater power supply conversion circuit, and is used for outputting a connecting signal and a transmission signal according to the underwater charging signal, and sending the connecting signal to the power transmission joint so as to control the power transmission joint to extend out and be connected with the power receiving plug; and sending the transmission signal to the underwater power supply conversion circuit so as to control the second charging power supply to be transmitted from the underwater power supply conversion circuit to the power transmission connector.
Optionally, the underwater charging device further includes: a charging cable; and one end of the charging cable is connected with the power transmission joint, and the other end of the charging cable is connected with the underwater power supply conversion circuit and is used for transmitting the second charging power supply to the power transmission joint through the charging cable.
Optionally, the underwater charging device further includes: a first docking assistance module;
the first docking auxiliary module is arranged on the charging cable close to the power transmission joint; the first docking assistance module comprises a power transmission joint acoustic transducer, a power transmission joint auxiliary lamp, a power transmission joint mechanical locking device and a power transmission joint strong electromagnetic locking device; the power transmission joint acoustic transducer is used for sending first position information of the power transmission joint; the power transmission joint auxiliary lamp is used for sending second position information of the power transmission joint; the power transmission joint mechanical locking device and the power transmission joint strong electromagnetic locking device are used for locking the power transmission joint and the power reception plug after the power reception plug is inserted into the power transmission joint, and unlocking and separating the power transmission joint and the power reception plug after the charging is completed;
The underwater controller is also connected with the first docking auxiliary module and used for controlling the opening and closing of the docking auxiliary module.
Optionally, the system further comprises: a second docking assistance module and a navigational controller;
the second docking auxiliary module is arranged in the underwater device to be charged and comprises an acoustic hydrophone and an optical sensor; the acoustic hydrophone is connected with the power transmission joint acoustic transducer and used for acquiring first position information of the power transmission joint; the optical sensor is connected with the power transmission joint auxiliary lamp and is used for collecting second position information of the power transmission joint;
the navigation controller is arranged on the underwater device to be charged, is respectively connected with the second docking auxiliary module and the power receiving plug, and is used for receiving the first position information of the power transmission connector and the second position information of the power transmission connector, and adjusting the position of the power receiving plug according to the first position information of the power transmission connector and the second position information of the power transmission connector until the power receiving plug is inserted into the power transmission connector.
Optionally, the underwater charging device further includes: a housing sealing the cabin and the counterweight;
The shell is formed by welding and processing stainless steel;
the first underwater sound transponder, the peripheral sensor, the sealed cabin and the balancing weight are arranged in the shell; the underwater controller and the underwater power supply conversion circuit are arranged in the sealed cabin; the exterior of the shell is provided with the docking assistance module, the charging cable and the power transmission connector.
The invention also provides an underwater online charging method, which comprises the following steps:
acquiring first three-dimensional position coordinate information of the underwater charging device and second three-dimensional position coordinate information of the underwater device to be charged;
acquiring underwater depth information and ground clearance information of the underwater charging device in real time;
according to the first three-dimensional position coordinate information, the second three-dimensional position coordinate information, the underwater depth information and the ground clearance information of the underwater charging device, the position of the underwater charging device is adjusted until the distance between the underwater charging device and the underwater device to be charged is within a preset range;
outputting an underwater charging signal when the distance between the underwater charging device and the underwater device to be charged is within a preset range;
And controlling the power transmission joint to be connected with the power receiving plug according to the underwater charging signal to form a charging circuit.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects: the invention provides an underwater online charging system and an underwater online charging method, wherein the system is connected with an underwater device to be charged; the system comprises: the device comprises a position acquisition device, a water controller, an underwater charging device and a power receiving plug; the power receiving plug is arranged on the underwater device to be charged; the position acquisition device is used for acquiring the first three-dimensional position coordinate information of the underwater charging device and the second three-dimensional position coordinate information of the underwater device to be charged; the underwater charging device comprises the underwater controller, a peripheral sensor and a power transmission connector; the peripheral sensor is used for collecting underwater depth information and ground clearance information of the underwater charging device; the power transmission connector is connected with the power receiving plug and is used for being connected with the power receiving plug to form a charging circuit; the underwater controller is connected with the power transmission joint and used for controlling the expansion and contraction of the power transmission joint; the underwater controller is respectively connected with the position acquisition device and the underwater charging device, and is used for adjusting the position of the underwater charging device according to the first three-dimensional position coordinate information, the second three-dimensional position coordinate information, the underwater depth information and the ground clearance information of the underwater charging device until the distance between the underwater charging device and the underwater device to be charged is within a preset range, outputting an underwater charging signal when the distance between the underwater charging device and the underwater device to be charged is within the preset range, and sending the underwater charging signal to the underwater controller so as to control the power transmission connector to extend and be connected with the power receiving plug to form a charging circuit. Therefore, the system or the method provided by the invention can adjust the position of the underwater charging device in real time, ensure accurate connection with the underwater carrier or the marine equipment, realize underwater online charging, simultaneously avoid huge risks generated in the recovery and re-application process, and greatly improve the working efficiency.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of the main structure of an underwater online charging system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a system architecture for online underwater charging according to an embodiment of the present invention;
FIG. 3 is a schematic view of an underwater charging device according to an embodiment of the present invention;
FIG. 4 is a schematic view of a structure of an underwater vehicle to be charged according to an embodiment of the present invention;
FIG. 5 is a schematic diagram illustrating the operation of the underwater on-line charging system according to the embodiment of the present invention;
FIG. 6 is a schematic diagram illustrating the operation of an underwater portion of an underwater on-line charging system according to an embodiment of the present invention;
fig. 7 is a schematic flow chart of an underwater online charging method according to an embodiment of the invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide an underwater online charging system and an underwater online charging method, which can adjust the position of an underwater charging device in real time, ensure accurate connection with an underwater carrier or marine equipment, realize underwater online charging, greatly improve the working efficiency and avoid huge risks in the recovery and re-application processes.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
Fig. 1 is a schematic diagram of the main structure of an underwater online charging system according to an embodiment of the present invention, as shown in fig. 1, the system provided by the present invention is connected with an underwater device to be charged 5, and the system includes: the device comprises a position acquisition device 1, a water controller 2, an underwater charging device 3 and a power receiving plug 4. Wherein the power receiving plug 4 is arranged on the underwater device to be charged 5.
The position acquisition device 1 is used for acquiring first three-dimensional position coordinate information of the underwater charging device 3 and second three-dimensional position coordinate information of the underwater device to be charged 5.
The underwater charging device 3 includes the underwater controller 301, a peripheral sensor 302, and a power transmission connector 303.
The peripheral sensor 302 is configured to collect underwater depth information and ground clearance information of the underwater charging device 3 in real time.
The power transmission connector 303 is connected to the power receiving plug 4, and is connected to the power receiving plug 4 to form a charging circuit.
The underwater controller 301 is connected to the power transmission connector 303, and is configured to control expansion and contraction of the power transmission connector 303.
The above-water controller 2 is respectively connected with the position acquisition device 1 and the underwater charging device 3, and is configured to adjust the position of the underwater charging device 3 in real time according to the first three-dimensional position coordinate information, the second three-dimensional position coordinate information, the underwater depth information and the ground clearance information until the distance between the underwater charging device 3 and the underwater charging device 5 is within a preset range, and is further configured to output an underwater charging signal when the distance between the underwater charging device 3 and the underwater charging device 5 is within the preset range, and send the underwater charging signal to the underwater controller 301 so as to control the power transmission connector 303 to extend, and connect with the power receiving plug 4, thereby forming a charging circuit.
Fig. 2 is a schematic diagram of a system structure of online underwater charging according to an embodiment of the present invention, as shown in fig. 2, a system provided by the present invention is connected to an underwater device to be charged 5, and the system includes: the device comprises a position acquisition device 1, a water controller 2, an underwater charging device 3, a power receiving plug 4, a water power supply conversion circuit 6, a mother ship armored cable 7, a second docking auxiliary module 8, a navigation controller 9 and a mother ship power positioning system 10.
The underwater device to be charged 5 includes a rechargeable battery 501.
The system provided by the embodiment of the invention needs the mother ship to support.
The mother ship is provided with a power positioning system 10 which is used for ensuring that the mother ship sails or berths at a low speed at a constant speed in a straight line in the process of docking and charging the underwater charging device 3 with the underwater carrier 5 to be charged.
The underwater charging device 5 in the embodiment of the invention can be an underwater navigation controller to be charged, a deep water space station to be charged, a manned underwater vehicle to be charged or an unmanned underwater vehicle to be charged.
The position acquisition device 1 comprises an acoustic positioning controller 101, a first underwater acoustic transponder 102 and a second underwater acoustic transponder 103. The first underwater acoustic transponder 102 is arranged on the underwater charging device 3; the second underwater acoustic transponder 103 is arranged on the underwater device 5 to be charged; the acoustic positioning controller 101 is provided on a parent ship.
The acoustic positioning controller 101 is connected to the first underwater acoustic transponder 102, and is configured to obtain first three-dimensional position coordinate information of the underwater charging device 3.
The acoustic positioning controller 101 is connected to the second underwater acoustic transponder 103, and is configured to obtain second three-dimensional position coordinate information of the underwater device to be charged 5.
The acoustic positioning controller 101 is connected with the water controller 2 and is used for sending the first three-dimensional position coordinate information and the second three-dimensional position coordinate information to the water controller 2.
The underwater charging device 3 includes the underwater controller 301, a peripheral sensor 302, and a power transmission connector 303. And the peripheral sensor 302 is used for collecting the underwater depth information and the ground clearance information of the underwater charging device 3 in real time. And a power transmission connector 303 connected to the power receiving plug 4 and configured to be connected to the power receiving plug 4 to form a charging circuit. And an underwater controller 301 connected to the power transmission connector 303 for controlling the expansion and contraction of the power transmission connector 303.
The underwater controller 2 is respectively connected with the position acquisition device 1 and the underwater charging device 3, and is used for adjusting the position of the underwater charging device 3 in real time according to the first three-dimensional position coordinate information, the second three-dimensional position coordinate information, the underwater depth information and the ground clearance information until the distance between the underwater charging device 3 and the underwater charging device 5 to be charged is within a preset range, outputting an underwater charging signal when the distance between the underwater charging device 3 and the underwater charging device 5 to be charged is within the preset range, and sending the underwater charging signal to the underwater controller 301 so as to control the power transmission connector 303 to extend out, and is connected with the power receiving plug 4 to form a charging circuit.
The power receiving plug 4 is arranged on the underwater device to be charged 5.
The above-water power supply conversion circuit 6 is used for converting mother ship alternating current power electricity into a first charging power supply suitable for long-distance transmission.
The water controller 2 is further connected to the water power conversion circuit 6, and is configured to send the underwater charging signal to the water power conversion circuit 6, so as to control the first charging power to be transmitted to the underwater charging device 3. Wherein the water controller 2 and the water power supply conversion circuit 6 are arranged on a mother ship.
The mother ship armored cable 7 is respectively connected with the water controller 2, the water power supply conversion circuit 6 and the underwater charging device 3 and is used for transmitting signals and power supply.
The underwater charging device 3 further comprises an underwater power supply conversion circuit 304, a charging cable 305 and a first docking assistance module 306.
The underwater controller 301 is further connected to the peripheral sensor 302 and the maternal ship armored cable 7, and is used for sending the underwater depth information and the ground clearance information into the on-water controller 2 through the maternal ship armored cable 7, and is used for receiving the underwater charging signals output by the on-water controller 2 through the maternal ship armored cable 7.
The underwater power supply conversion circuit 304 is connected with the armored cable 7 of the mother ship, and is configured to receive the first charging power supply, and convert the received first charging power supply to obtain a second charging power supply required by charging the underwater device 5 to be charged.
The underwater controller 301 is further connected to the power transmission connector 303 and the underwater power conversion circuit 304, and is configured to output a connection signal and a transmission signal according to the underwater charging signal, and send the connection signal to the power transmission connector 303, so as to control the power transmission connector 303 to extend out, and connect with the power receiving plug 4. The transmission signal is sent to the underwater power conversion circuit 304 to control the transmission of the second charging power from the underwater power conversion circuit 304 to the power transmission connector 303.
And one end of the charging cable 305 is connected with the power transmission connector 303, and the other end of the charging cable is connected with the underwater power supply conversion circuit 304, so that the second charging power supply is transmitted to the power transmission connector 303 through the charging cable 305.
The first docking assistance module 306 is disposed on the charging cable 305 near the power transmission connector 303, and includes a power transmission connector acoustic transducer 3061, a power transmission connector assistance light 3602, a power transmission connector mechanical locking device 3603, and a power transmission connector strong electromagnetic locking device 3604 (not shown in the figure).
The underwater controller 301 is further connected to the first docking assistance module 306, and is configured to control the first docking assistance module 306 to be turned on and off, specifically, when the underwater controller 301 receives an underwater charging signal, the underwater controller 301 controls the power transmission connector 303 to extend out, and the first docking assistance module 306 is turned on; when the charging is completed, the power transmission connector 303 is retracted by closing the first docking assistance module 306.
A power delivery joint acoustic transducer 3061 for transmitting first positional information of the power delivery joint.
And a power feeding connector auxiliary lamp 3602 for transmitting second position information of the power feeding connector.
The power transmission connector mechanical locking device 3603 and the power transmission connector strong electromagnetic locking device 3604 are used for locking the power transmission connector 303 and the power receiving plug 4 after the power receiving plug 4 is inserted into the power transmission connector 303; when the charging is completed, the power transmission connector 303 and the power receiving plug 4 are unlocked and separated.
The second docking assistance module 8 is disposed on the underwater charging device, and includes an acoustic hydrophone 801 and an optical sensor 802 (not shown).
The acoustic hydrophone 801 is connected to the power delivery joint acoustic transducer 3601, and is configured to obtain first position information of the power delivery joint.
The optical sensor 802 is connected to the power transmission connector auxiliary lamp 3602, and is configured to acquire second position information of the power transmission connector.
The navigation controller 9 is disposed on the underwater charging device 5, and is respectively connected with the second docking assistance module 8 and the power receiving plug 4, and is configured to receive the first position information of the power transmission connector and the second position information of the power transmission connector, and adjust the position of the power receiving plug 4 until the power receiving plug 4 is inserted into the power transmission connector 303 according to the first position information of the power transmission connector and the second position information of the power transmission connector.
In addition, the underwater charging device 3 further comprises a shell, a sealed cabin and a balancing weight.
The shell is formed by welding and processing stainless steel.
The balancing weight is used for increasing the weight of the underwater charging device 3.
Inside the housing are provided the first underwater acoustic transponder 102, the first auxiliary module 306, the peripheral sensor 302, the capsule and the counterweight. Wherein the underwater controller 301 and the underwater power conversion circuit 304 are disposed in the sealed cabin.
The charging cable 305 and the power transmission connector 303 are provided outside the housing.
For purposes of illustrating the systems provided by the present invention, a specific embodiment is provided below.
The system for online charging on water provided by the embodiment of the invention needs a mother ship support, and mainly comprises a mother ship acoustic positioning system, a ship measurement and control unit, an underwater charging device 3, a power receiving plug 4, an underwater carrier to be charged 5, a mother ship armored cable 7 and a second docking auxiliary module 8. A navigation controller 9, a mother ship dynamic positioning system 10, etc.
The mother ship acoustic positioning system comprises an acoustic positioning controller 101, a first acoustic transponder 102 and a second acoustic transponder 103.
The shipboard measurement and control unit comprises a water controller 2 and a water power supply conversion circuit 6.
The mother ship armored cable 7 is respectively connected with the water controller 2, the water power supply conversion circuit 6 and the underwater charging device 3 and is used for transmitting signals and power supply.
The mother ship armoured cable 7 is a survey ship universal arrangement for transmitting the converted power to the underwater charging device 3. The mother vessel armoured cable 7 may be an electro-optical composite cable or a coaxial armoured cable, preferably an electro-optical composite cable.
Fig. 3 is a schematic structural diagram of an underwater charging device according to an embodiment of the present invention. As shown in fig. 3, the underwater charging device 3 is composed of an underwater controller 301, a peripheral sensor 302, a power transmission connector 303 (for clarity of the connection between the underwater charging device 3 and the underwater device 5 to be charged, the power transmission connector 303 is placed in fig. 4, details are shown in fig. 4), an underwater power supply conversion circuit 304, a charging cable 305, a first docking assistance module 306 (for clarity of the connection between the underwater charging device 3 and the underwater device 5 to be charged, the first docking assistance module 306 is placed in fig. 4, details are shown in fig. 4), a balancing weight 307, a balancing weight towed body (housing) 307, a bearing connector 309, a seal cabin 310 (not shown in the figure), an underwater modem 311 (not shown in the figure), and the like. The first acoustic transponder 102 is arranged on the underwater charging device 3.
The mother ship armoured cable 7 is connected with a bearing connector 309 in the underwater charging device 3, and the mother ship armoured cable 7 is also responsible for towing the underwater charging device 3.
The counterweight slipper 308 is welded by stainless steel, and the first underwater acoustic transponder 102, the peripheral sensor 302, the sealed cabin 310 and the counterweight 308 are arranged inside the counterweight slipper 308. The underwater controller 301, the underwater power conversion circuit 304, and the underwater modem 311 are provided inside the sealed cabin 310. The charging cable 305, the first auxiliary module 306, and the power transmission connector 303 are disposed outside the counterweight slipper 308.
Fig. 4 is a schematic view of a structure of an underwater vehicle to be charged according to an embodiment of the present invention. As shown in fig. 4, the second acoustic transponder 103, the power receiving plug 4, the second docking assistance module 8, the navigation controller 9, and the rechargeable battery 501 are disposed on the underwater vehicle 5 to be charged. The underwater charging device 3 is connected with the power receiving plug 4 through a charging cable 305 and a power transmission connector 303 to charge the underwater carrier 5 to be charged.
The underwater charging device 3 includes one or more of the charging cables 305, each charging cable 305 being provided with a set of power feeding terminals 303.
The charging cable 305 has a certain length, hardness and tensile properties, and the underwater controller 301 can be configured with different transmission voltages according to the need.
And an underwater controller 301 connected to the power transmission connector 303 for controlling the expansion and contraction of the power transmission connector 303.
The power transmission connector 303 is used for being in butt joint with the power receiving plug 4, and after the butt joint is successful, electric energy is transmitted to the underwater carrier 5 to be charged in a wireless mode.
The underwater vehicle 5 to be charged comprises an underwater navigation controller, a deep water space station, a manned underwater vehicle, an unmanned underwater vehicle and the like. The underwater vehicle 5 to be charged can be dynamically sailed or can be stationary at the bottom.
The first underwater acoustic transponder 102 is used together with an acoustic positioning controller 101 in a mother ship acoustic positioning system, and is used for accurately positioning the three-dimensional position coordinates of the underwater charging device 3.
The second underwater acoustic transponder 103 is used together with the acoustic positioning controller 101 in the acoustic positioning system of the mother ship, and is used for precisely positioning the three-dimensional position coordinates of the underwater carrier 5 to be charged.
The peripheral sensors 302 include a depth sensor, a height sensor, and the like, and are configured to collect underwater depth information and ground clearance information of the underwater charging device 3 through the depth sensor and the height sensor.
The underwater controller 301 is connected to the peripheral sensor 302, and is configured to obtain underwater depth information and ground clearance information.
The underwater controller 301 is connected to the underwater modem 311, and is configured to code and modulate underwater depth information and ground clearance information to obtain processed information.
The underwater controller 301 is connected to the mother ship armoured cable 7, and is configured to transmit the processed information to the water controller 2 through the mother ship armoured cable 7.
The above-water power supply conversion circuit 6 is used for converting mother ship alternating current power electricity into power supply suitable for long-distance transmission, reducing transmission loss and obtaining a first charging power supply. Preferably, the mother ship alternating current power is 380VAC, and the power output by the water power supply conversion circuit 6 is 1000VDC.
The water controller 2 is connected with the armored cable 7 of the mother ship and is used for receiving and decoding the processed information to obtain underwater depth information and ground clearance information.
The water controller 2 is further connected to the acoustic positioning controller 101, and is configured to obtain a three-dimensional position coordinate where the underwater charging device 3 is located and a three-dimensional position coordinate where the underwater vehicle 5 to be charged is located.
The above-water controller 2 is further configured to output a control command according to the underwater depth information, the ground clearance information, the three-dimensional position coordinate where the underwater charging device 3 is located, and the three-dimensional position coordinate where the underwater vehicle 5 to be charged is located, and send the control command to the underwater controller 301 through the parent ship armored cable 7, so as to adjust the position of the underwater charging device 3 until the distance between the underwater charging device 3 and the underwater vehicle 5 to be charged is within a preset range, and when the distance between the underwater charging device 3 and the underwater vehicle 5 to be charged is within the preset range, output an underwater charging signal, and send the underwater charging signal to the underwater controller 301, so as to control the power transmission connector 303 to extend, and connect with the power receiving plug 4, so as to form a charging circuit.
The control command comprises turning on and off of a charging power supply, turning on and off of light of a power transmission joint, turning on and off of an acoustic system of the power transmission joint, locking and unlocking of the power transmission joint, turning on and off of an electromagnetic system of the power transmission joint and the like.
The subsea controller 301 receives the control command and controls the charging voltage and charging current level of the subsea vehicle to be charged and controls the actions of the charging cable 305 and the first docking assistance module 306.
The water controller 2 can also sense the information such as the position, the gesture, the charging voltage, the charging current and the like of the underwater charging device 3 in real time, and an operator and a driver control the navigational speed, the heading and the like of the mother ship through the information.
The water controller 2 is further connected to the water power conversion circuit 6, and is configured to send the control command to the water power conversion circuit 6, so as to control the first charging power to be transmitted to the underwater power conversion circuit 304 through the armoured cable 7 of the mother ship.
The underwater power supply conversion circuit 306 converts the first charging power supply into a power supply suitable for charging the underwater vehicle 5 to be charged and a power supply required for the underwater charging device 3. Preferably, the power transmitted to the underwater charging device 3 through the mother ship armoured cable 7 is 1000VDC, and the power outputted from the underwater power conversion circuit 306 is 5VDC, 12VDC, 24VDC, 36VDC, 48VDC, etc.
The underwater controller 301 is further connected to the power transmission connector 303 and the underwater power conversion circuit 304, and is configured to output a connection signal and a transmission signal according to the control command, and send the connection signal to the power transmission connector 303, so as to control the power transmission connector 303 to extend, and connect with the power receiving plug 4; and is further configured to send the transmission signal to the underwater power conversion circuit 304 to control the transmission of the second charging power from the underwater power conversion circuit 304 to the power transmission connector 303.
The first docking assistance module 306 includes a power delivery head acoustic transducer 3601, a power delivery head auxiliary light 3062, a power delivery head mechanical locking device 3063, a power delivery head strong electromagnetic locking device 3064, a tension sensor 3605, and the like.
The power feeding joint acoustic transducer 3061 and the power feeding joint auxiliary lamp 3602 are for facilitating smooth insertion of the power receiving plug 4 into the power feeding joint 303.
The power transmission connector mechanical locking device 3603 and the strong electromagnetic locking device 3604 have the functions of locking the power transmission connector 303 and the power reception plug 4 after the power reception plug 4 is smoothly inserted into the power transmission connector 303, and unlocking and separating the power transmission connector 303 and the power reception plug 4 after charging is completed. The power transmission joint mechanical locking device 3603 and the strong electromagnetic locking device 3604 are automatically unlocked when power is off.
The tension sensor 3605 senses the tension of the power receiving plug 4 after the power transmitting connector 303 is successfully inserted in real time, and if the load emergency situation is exceeded, the underwater controller 301 can command the power transmitting connector mechanical locking device 3603 and the strong electromagnetic locking device 3604 to unlock, even power-off unlock.
The second docking assistance module 8 comprises an acoustic hydrophone 801, an optical sensor 802 and the like, and is mounted on the underwater vehicle 5 to be charged and the power receiving plug 4. The function of the acoustic hydrophone 801 is to receive acoustic signals generated by the power delivery head acoustic transducer 3601, and the function of the optical sensor 802 is to receive illumination signals from the power delivery head auxiliary lamp 3602 and to transmit all received acoustic signals and illumination signals to the navigational controller 9.
The navigation controller 9 is configured to obtain information of a relative positional relationship between the power receiving plug 4 and the power transmitting plug 303 according to the acoustic signal and the illumination signal, and adjust a speed, a position and a posture of the underwater carrier 5 to be charged according to the information of the relative positional relationship, so as to realize automatic butt joint between the power transmitting plug 303 and the power receiving plug 4.
The power receiving plug 4 is contained in the underwater vehicle 5 to be charged during normal sailing of the underwater vehicle 5 to be charged, and extends out of the underwater vehicle 5 to be charged when charging is needed.
The power receiving plug 4, after being docked with the power transmission connector 303, transmits electric energy to the underwater vehicle 5 to be charged to supply power to the rechargeable battery 501.
In the process of docking and charging the underwater charging device 3 and the underwater carrier 5 to be charged, the acoustic positioning system of the mother ship receives signals of the first acoustic transponder 102 and the second acoustic transponder 103 in real time, and determines the positions and depths of the underwater charging device 3 and the underwater carrier 5 to be charged.
The mother ship is provided with a dynamic positioning system 10 for ensuring that the mother ship sails or berths at a low speed, at a constant speed and in a straight line during the process of docking and charging the underwater charging device 3 with the underwater vehicle 5 to be charged.
Fig. 5 is a schematic working diagram of an underwater online charging system according to an embodiment of the present invention. Fig. 6 is a schematic working diagram of an underwater portion of an underwater online charging system according to an embodiment of the present invention, as shown in fig. 5 and 6, a working flow of the underwater online charging system is as follows:
1. the mother vessel sails to the vicinity of the sea where the underwater vehicle 5 to be charged is located.
2. The mother ship is connected with the underwater vehicle 5 to be charged, and the underwater vehicle 5 to be charged is informed to navigate at a low speed and is ready to be charged.
3. The second acoustic transponder 103 transmits acoustic positioning information, and the mother ship acquires the position information and the depth information of the underwater vehicle 5 to be charged in real time through the acoustic positioning controller 101.
4. The shipborne measurement and control unit is connected with the underwater charging device 3 through a mother ship armored cable 8 for testing; the test is normal, the mother ship sails at a low speed, and the underwater charging device 3 is applied to the stern seawater.
5. The first acoustic underwater acoustic transponder transmits acoustic positioning information, and the mother ship receives and senses the position information and the depth information of the underwater charging device 3 in real time through the acoustic positioning controller 101.
6. The mother vessel armoured cable 8 is put down until the underwater charging device 3 reaches approximately the same depth as the underwater vehicle 5 to be charged.
7. The shipboard measurement and control unit sends a command instructing the underwater charging device 3 to pay out the charging cable 305.
8. The mother vessel is adjusted to be at about the same heading, about the same speed, and about the same position as the underwater vehicle 5 to be charged.
9. The first docking assistance module 306 is on and the power delivery joint acoustic transducer 3061 continuously emits acoustic pulses of a given frequency and the power delivery joint assistance light 3602 turns on the light illumination.
10. The power receiving plug 4 on the underwater vehicle 5 to be charged extends out of the underwater vehicle 5 to be charged.
11. The second docking auxiliary sensor 8 on the underwater vehicle 5 to be charged is turned on, and comprises an acoustic hydrophone 801, an optical sensor 802 and the like, the acoustic hydrophone 801 receives the acoustic wave signal generated by the power transmission joint acoustic transducer 3601, the optical sensor 802 receives the illumination signal sent by the power transmission joint auxiliary lamp 3602, and both the acoustic wave signal and the illumination signal are transmitted to the navigation controller 9.
11. The navigation controller 9 on the underwater vehicle 5 to be charged receives the sound wave signal and the light illumination signal, acquires the relative position relation information between the power receiving plug 4 and the power feeding point connector 303 according to the sound wave signal and the light illumination signal, and adjusts the speed, the position and the gesture of the underwater vehicle 5 to be charged according to the relative position relation information, so that the power feeding connector 303 and the power receiving plug 4 are automatically connected.
12. When the power transmission connector 303 is successfully docked with the power receiving plug 4, the power transmission connector mechanical locking device 3603 and the strong electromagnetic locking device 3604 lock the power transmission connector 303 with the power receiving plug 4.
13. The underwater charging device 3 charges the underwater vehicle 5 to be charged in a predetermined pattern.
14. After the charging is finished, the charging cable 306 is disconnected, and the power transmission connector mechanical locking device 3603 and the strong electromagnetic locking device 3604 unlock the power transmission connector 303 from the power receiving plug 4.
15. The power receiving plug 4 is retracted into the body of the underwater vehicle 5 to be charged.
16. The shipboard measurement and control unit sends a command instructing the underwater charging device 3 to recover the charging cable 305.
17. The mother ship recovers the mother ship armored cable 7 and the underwater charging device 3.
Compared with the prior art, the system provided by the invention has the advantages that:
firstly, the system or the method provided by the embodiment of the invention can adjust the position of the underwater charging device in real time, ensure accurate connection with the underwater carrier or the marine equipment, realize underwater online charging, simultaneously greatly provide the working efficiency and avoid huge risks generated in the recovery and re-application processes.
In the second embodiment of the invention, the mother ship charges the underwater device to be charged through the underwater charging device, the power of the mother ship is sufficient, the transmission capacity of the armoured cable of the mother ship is strong, the maximum charging power of the underwater charging device can reach 100kW, and the charging time is greatly shortened.
Thirdly, the embodiment of the invention uses the mother ship to charge the underwater charging device to be charged through the underwater charging device, the power of the mother ship is sufficient, the armored cable of the mother ship has strong transmission capacity, and the underwater charging device can charge a plurality of underwater carriers to be charged at the same time, so that the charging efficiency is greatly improved.
Fourth, the embodiment of the invention uses the mother ship to charge the underwater device to be charged through the underwater charging device, the power of the mother ship is sufficient, the armored cable of the mother ship has strong transmission capacity, and the underwater charging device can charge ultra-large underwater vehicles such as deep water space stations.
And fifthly, the mother ship is provided with an acoustic positioning system, so that the relative position information of the underwater charging device and the underwater device to be charged can be positioned in real time, the mother ship adjusts the ship speed and the course according to the relative position information, and the docking speed is improved.
Sixth, the underwater charging device uploads the charging state information in real time, and the mother ship can know the charging state information in real time so as to cope with the emergency.
In order to achieve the purpose, the invention further provides an underwater online charging method.
Fig. 7 is a schematic flow chart of an underwater online charging method according to an embodiment of the present invention, as shown in fig. 7, the method provided by the present invention specifically includes the following steps:
step 701: acquiring first three-dimensional position coordinate information of the underwater charging device and second three-dimensional position coordinate information of the underwater device to be charged;
step 702: acquiring underwater depth information and ground clearance information of the underwater charging device in real time;
step 703: according to the first three-dimensional position coordinate information, the second three-dimensional position coordinate information, the underwater depth information and the ground clearance information of the underwater charging device, the position of the underwater charging device is adjusted until the distance between the underwater charging device and the underwater device to be charged is within a preset range;
step 704: outputting an underwater charging signal when the distance between the underwater charging device and the underwater device to be charged is within a preset range;
step 705: and controlling the power transmission joint to be connected with the power receiving plug according to the underwater charging signal to form a charging circuit.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.

Claims (10)

1. An underwater on-line charging system is characterized in that the system is connected with an underwater device to be charged; the system comprises: the device comprises a position acquisition device, a water controller, an underwater charging device and a power receiving plug; the power receiving plug is arranged on the underwater device to be charged;
the position acquisition device is used for acquiring the first three-dimensional position coordinate information of the underwater charging device and the second three-dimensional position coordinate information of the underwater device to be charged;
the underwater charging device comprises an underwater controller, a peripheral sensor and a power transmission joint; the peripheral sensor is used for collecting underwater depth information and ground clearance information of the underwater charging device; the power transmission connector is connected with the power receiving plug and is used for being connected with the power receiving plug to form a charging circuit; the underwater controller is connected with the power transmission joint and used for controlling the expansion and contraction of the power transmission joint;
The underwater controller is respectively connected with the position acquisition device and the underwater charging device, and is used for adjusting the position of the underwater charging device according to the first three-dimensional position coordinate information, the second three-dimensional position coordinate information, the underwater depth information and the ground clearance information until the distance between the underwater charging device and the underwater device to be charged is within a preset range, outputting an underwater charging signal when the distance between the underwater charging device and the underwater device to be charged is within the preset range, and sending the underwater charging signal to the underwater controller so as to control the power transmission connector to extend out and be connected with the power receiving plug to form a charging circuit;
the system requires mother ship support; the system also comprises a mother ship dynamic positioning system; the mother ship dynamic positioning system is used for ensuring that the mother ship sails or berths at a low speed at a constant speed in a straight line in the process of docking and charging the underwater charging device with the underwater charging device to be charged.
2. The system of claim 1, further comprising an on-water power conversion circuit;
the water power supply conversion circuit is used for converting mother ship alternating current power electricity into a first charging power supply suitable for long-distance transmission;
The water controller is also connected with the water power supply conversion circuit and is used for sending the underwater charging signal to the water power supply conversion circuit so as to control the first charging power supply to be transmitted into the underwater charging device; wherein, the water controller and the water power supply conversion circuit are arranged on a mother ship.
3. The system of claim 2, further comprising a parent ship armored cable; and the mother ship armored cable is respectively connected with the water controller, the water power supply conversion circuit and the underwater charging device.
4. A system according to claim 3, wherein the position acquisition device comprises an acoustic positioning controller, a first acoustic transponder and a second acoustic transponder; the first underwater sound transponder is arranged on the underwater charging device; the second underwater sound transponder is arranged on the underwater device to be charged; the acoustic positioning controller is arranged on the mother ship;
the acoustic positioning controller is connected with the first underwater acoustic transponder and used for acquiring first three-dimensional position coordinate information of the underwater charging device;
the acoustic positioning controller is connected with the second underwater acoustic transponder and used for acquiring second three-dimensional position coordinate information of the underwater device to be charged;
And the acoustic positioning controller is connected with the water controller and used for sending the first three-dimensional position coordinate information and the second three-dimensional position coordinate information to the water controller.
5. The system of claim 4, wherein the subsea charging device further comprises: an underwater power supply conversion circuit;
the underwater power supply conversion circuit is connected with the armored cable of the mother ship and is used for receiving the first charging power supply and converting the received first charging power supply to obtain a second charging power supply which is suitable for charging the underwater device to be charged;
the underwater controller is also respectively connected with the power transmission joint and the underwater power supply conversion circuit, and is used for outputting a connecting signal and a transmission signal according to the underwater charging signal, and sending the connecting signal to the power transmission joint so as to control the power transmission joint to extend out and be connected with the power receiving plug; and sending the transmission signal to the underwater power supply conversion circuit so as to control the second charging power supply to be transmitted from the underwater power supply conversion circuit to the power transmission connector.
6. The system of claim 5, wherein the subsea charging device further comprises: a charging cable; and one end of the charging cable is connected with the power transmission joint, and the other end of the charging cable is connected with the underwater power supply conversion circuit and is used for transmitting the second charging power supply to the power transmission joint through the charging cable.
7. The system of claim 6, wherein the subsea charging device further comprises: a first docking assistance module;
the first docking auxiliary module is arranged on the charging cable close to the power transmission joint; the first docking assistance module comprises a power transmission joint acoustic transducer, a power transmission joint auxiliary lamp, a power transmission joint mechanical locking device and a power transmission joint strong electromagnetic locking device; the power transmission joint acoustic transducer is used for sending first position information of the power transmission joint; the power transmission joint auxiliary lamp is used for sending second position information of the power transmission joint; the power transmission joint mechanical locking device and the power transmission joint strong electromagnetic locking device are used for locking the power transmission joint and the power reception plug after the power reception plug is inserted into the power transmission joint, and unlocking and separating the power transmission joint and the power reception plug after the charging is completed;
the underwater controller is also connected with the first docking auxiliary module and used for controlling the opening and closing of the docking auxiliary module.
8. The system of claim 7, wherein the system further comprises: a second docking assistance module and a navigational controller;
The second docking auxiliary module is arranged in the underwater device to be charged and comprises an acoustic hydrophone and an optical sensor; the acoustic hydrophone is connected with the power transmission joint acoustic transducer and used for acquiring first position information of the power transmission joint; the optical sensor is connected with the power transmission joint auxiliary lamp and is used for collecting second position information of the power transmission joint;
the navigation controller is arranged on the underwater device to be charged, is respectively connected with the second docking auxiliary module and the power receiving plug, and is used for receiving the first position information of the power transmission connector and the second position information of the power transmission connector, and adjusting the position of the power receiving plug according to the first position information of the power transmission connector and the second position information of the power transmission connector until the power receiving plug is inserted into the power transmission connector.
9. The system of claim 8, wherein the subsea charging device further comprises: a housing sealing the cabin and the counterweight;
the shell is formed by welding and processing stainless steel;
the first underwater sound transponder, the peripheral sensor, the sealed cabin and the balancing weight are arranged in the shell; the underwater controller and the underwater power supply conversion circuit are arranged in the sealed cabin; the exterior of the shell is provided with the docking assistance module, the charging cable and the power transmission connector.
10. A method of underwater online charging, characterized in that the method is applied to the underwater online charging system as claimed in any one of claims 1 to 9, the method comprising:
acquiring first three-dimensional position coordinate information of the underwater charging device and second three-dimensional position coordinate information of the underwater device to be charged;
acquiring underwater depth information and ground clearance information of the underwater charging device in real time;
according to the first three-dimensional position coordinate information, the second three-dimensional position coordinate information, the underwater depth information and the ground clearance information of the underwater charging device, the position of the underwater charging device is adjusted until the distance between the underwater charging device and the underwater device to be charged is within a preset range;
outputting an underwater charging signal when the distance between the underwater charging device and the underwater device to be charged is within a preset range;
and controlling the power transmission joint to be connected with the power receiving plug according to the underwater charging signal to form a charging circuit.
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