CN107577226A - A kind of portable underwater autonomous navigation device control device - Google Patents
A kind of portable underwater autonomous navigation device control device Download PDFInfo
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- CN107577226A CN107577226A CN201710721022.0A CN201710721022A CN107577226A CN 107577226 A CN107577226 A CN 107577226A CN 201710721022 A CN201710721022 A CN 201710721022A CN 107577226 A CN107577226 A CN 107577226A
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- 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
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
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Abstract
The present invention proposes a kind of portable underwater autonomous navigation device control device, including remote handling system, task level controller, execution level controller, power-supply controller and rear paragraph controller on the bank；Remote handling system carries out information exchange by communication and task level controller on the bank；Task level controller receives assignment instructions, and assignment instructions are converted into depth directional command and are sent to execution level controller；Level controller is performed to receive autonomous underwater vehicle sensing data and parsed, autonomous underwater vehicle state parameter is obtained, according to autonomous underwater vehicle state parameter and depth directional command, carries out navigation calculation, control instruction is obtained, is sent to rear paragraph controller.Operating efficiency of the present invention is high, real-time；Reliability is high, possesses stronger fault freedom；Flexible in configuration, portable, autgmentability height；Modular assembly, maintenance cost are low.
Description
Technical field
The invention belongs to underwater robot control field, specially a kind of portable underwater autonomous navigation device control device.
Background technology
For the unmanned submersible of marine exploration and submarine observation (Unmanned Underwater Vehicle, abbreviation
UUV remote control submarine navigation device (Remote Operated Vehicle, abbreviation ROV) and Autonomous Underwater Vehicle can) be divided into
Two kinds of (Autonomous Underwater Vehicle, abbreviation AUV).Compared with ROV, AUV is as a kind of underwater autonomous delivery
Instrument, navigated by water by the energy entrained by itself, the tasks such as subaqueous survey, article delivery can be completed, in military ocean surveillance, sea
The fields such as foreign environmental monitoring, oil field exploration play the role of important.AUV have scope of activities and depth it is big, without umbilical cord limitation, can
System is supported into labyrinth body, without the complicated water surface, takes the advantages such as deck is small, operating maintenance expense is low.
AUV receives the attention of each ocean power of the world as human research and the sharp weapon of exploitation ocean.Following AUV's
Development trend is farther, deeper, smaller, with better function, the increase of the military requirement such as particularly following naval warfare, to AUV
Development bring boundless vital force, also imply that AUV starts to move towards the application stage.With maturation and the offshore industry development of technology
Needs, the portable AUV of commercial use also begins to occur, and is constantly developing and growing.
At present, portable AUV control devices typically take single CPU (CPU) or hypotactic multi -CPU side
Case.Single CPU control system is completed, it is necessary to which all action controls of ROV and message handling program are placed in a CPU,
CPU burden certainly will so be increased, reduce the real-time of system response.Hypotactic control system, subordinate CPU can not be autonomous
Decision-making, its judgement need to submit decision-making level, and this certainly will just reduce the real-time response ability of system, and hypotactic control
System inconvenience functions expanding processed.
The content of the invention
Portable AUV has strict demand in weight, volume etc., in order to meet different mission requirements, control device
Must standardize, modularization, generalization.Based on above-mentioned purpose, the present invention proposes a kind of portable underwater autonomous navigation device control
Device processed, Hierarchical Control is realized using " task level-execution level " dual cpu controller structure based on CAN.
The technical scheme is that：
A kind of portable underwater autonomous navigation device control device, it is characterised in that：Including remote handling system on the bank,
Task level controller, perform level controller, power-supply controller and rear paragraph controller；Task level controller, perform level controller, supply
Electric controller and rear paragraph controller are in autonomous underwater vehicle；
The remote handling system on the bank carries out information exchange by communication and task level controller；Wherein bank
Upper remote handling system produces assignment instructions, and assignment instructions are sent into task level controller by communication；Appoint
Business level controller passes through the status information of the state parameter of autonomous underwater vehicle and autonomous underwater vehicle all parts
Communication is sent to remote handling system on the bank；
The task level controller receives assignment instructions, and assignment instructions are converted into depth directional command and are sent to execution
Level controller；The task level controller receives the autonomous underwater vehicle sensing data, underwater for performing level controller and sending
Autonomous navigation device state parameter and control data are simultaneously stored；It is each that the task level controller receives autonomous underwater vehicle
Itself work state information of individual part；
The execution level controller receives autonomous underwater vehicle sensing data and parsed, and obtains underwater autonomous boat
Row device state parameter；It is described to perform what level controller was sent according to autonomous underwater vehicle state parameter and task level controller
Depth directional command, navigation calculation is carried out, obtains control instruction, and control instruction is sent to back segment control by CAN
Device；The control instruction includes steering instruction and rotary speed instruction；
Paragraph controller, which receives, after described performs the steering instruction that level controller is sent, and produces each rudder according to steering instruction
The pwm signal of machine, export to corresponding steering engine driver；Paragraph controller receives the rotating speed that execution level controller is sent and referred to after described
Order, is transmitted to motor driver；
The power-supply controller enters line program to autonomous underwater vehicle all parts and controlled for power-off.
Further preferred scheme, a kind of portable underwater autonomous navigation device control device, it is characterised in that：Task
Level controller, execution level controller, power-supply controller and rear paragraph controller are also connected with emergency mobile forces stop signal line；Task level controller
Emergency mobile forces stop signal can be sent with level controller is performed, power-supply controller and rear paragraph controller detect emergency mobile forces stop signal
Afterwards, rear paragraph controller sends motor stalling instruction, and rudder angle instructs on steering wheel, and power-supply controller powers off to motor.
Further preferred scheme, a kind of portable underwater autonomous navigation device control device, it is characterised in that：It is described
Communication includes Wi-Fi wireless routings communication mode, wireless digital broadcasting station communication mode, iridium communication mode, the underwater sound
One or more in communication mode.
Further preferred scheme, a kind of portable underwater autonomous navigation device control device, it is characterised in that：Task
Oneself state information is interacted between level controller and execution level controller, when task level controller is with performing in level controller
A certain controller when occurring abnormal, another controller diagnosis autonomous underwater vehicle state enables exception service program.
Further preferred scheme, a kind of portable underwater autonomous navigation device control device, it is characterised in that：Task
Level controller is led to performing the information interaction of level controller by CAN communication mode, serial communication mode, wireless network
One or more realizations in letter mode.
Further preferred scheme, a kind of portable underwater autonomous navigation device control device, it is characterised in that：It is described
Remote handling system uses patterned mission planning software on the bank, and the graphical instruction of operating personnel is converted into code command
Task level controller is sent to by communication afterwards；And remote handling system can be according to digital chart to operation on the bank
The false command of personnel is identified and handled.
Further preferred scheme, a kind of portable underwater autonomous navigation device control device, it is characterised in that：Under water
Autonomous navigation device sensor includes satellite positioning device, Doppler's fast reading instrument, pressure sensor and attitude transducer.
Beneficial effect
The beneficial effects of the invention are as follows：
Using " task level-execution level " dual CPU Host Controller Architectures, and the distributed AC servo system system of other nodes composition
System, has advantages below：
1st, system operating efficiency is high, real-time.In addition to dual CPU master controllers, control device is collocated with power supply control
Device processed, motor driver, steering engine driver, the task commitment amount of master controller is significantly reduced, improve the work effect of system
Rate.
2nd, system reliability is high, possesses stronger fault freedom.It is calculating relative to traditional distributed director
Amount is distributed to multiple processors, and the present invention realizes multiprocessor judgement in safety guarantee part and multi executors perform guarantee
Safety.Using dual CPU master controllers, both sides supervise mutually, even if abnormal, another controller occurs in the presence of a controller
ROV state can also be diagnosed and enable exception service program.Any one CPU can be sent by emergency mobile forces stop signal line
Emergency mobile forces stop signal, power-supply controller and rear paragraph controller can respond emergency mobile forces stop signal, and its posterior segment controller is sent
Motor stalling instructs, rudder angle instruction on steering wheel；Power-supply controller will power off to motor.Take one measure of any of which it
ROV will all emerge rapidly afterwards, ensure that ROV can normally ashore remote control system sends warning message and position, and
Safety is maked a return voyage.
3rd, flexible in configuration, portable, autgmentability height.System uses the distributed frame of CAN, and CAN leaves
Multiple secondary nodes, system can carry different test devices, such as CTD, side scan sonar etc. according to the difference of task.System
Physical connection, electrical connection use universalized connection entirely.
4th, modular assembly, maintenance cost are low.Each node is independent module in system CAN bus, system electrification
Afterwards, remote control system can monitor each module status in real time on the bank, and any module is abnormal, and remote control system all can be positioned directly on the bank.
In addition each module can independent test, if any damage, convenient maintenance or change.
The additional aspect and advantage of the present invention will be set forth in part in the description, and will partly become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Brief description of the drawings
The above-mentioned and/or additional aspect and advantage of the present invention will become in the description from combination accompanying drawings below to embodiment
Substantially and it is readily appreciated that, wherein：
The portable AUV control devices structured flowcharts of Fig. 1；
The portable AUV Hierarchical Controls architectures of Fig. 2；
Fig. 3 task level controller software flow charts；
Fig. 4 performs level controller software flow chart；
Fig. 5 emergency mobile forces stop signal responding process figures；
The portable AUV operational flowcharts of Fig. 6.
Embodiment
Embodiments of the invention are described below in detail, the embodiment is exemplary, it is intended to for explaining the present invention, and
It is not considered as limiting the invention.
As shown in figure 1, the portable underwater autonomous navigation device control device in the present embodiment includes straighforward operation system on the bank
System, task level controller, perform level controller, power-supply controller and rear paragraph controller；Task level controller, perform level control
Device, power-supply controller and rear paragraph controller are in autonomous underwater vehicle.
The remote handling system on the bank carries out information exchange by communication and task level controller；Wherein bank
Upper remote handling system produces assignment instructions, and assignment instructions are sent into task level controller by communication；Appoint
Business level controller passes through the status information of the state parameter of autonomous underwater vehicle and autonomous underwater vehicle all parts
Communication is sent to remote handling system on the bank.
Remote handling system uses system as user on the bank, carries for convenience, improves the using effect of user, selects
The T450 of ThinkPad notebooks, and equipped with the visualized operating software developed under VB and sieve Logitech of operable ROV
Skill F710 wireless remote control handles.The remote handling system on the bank uses patterned mission planning software, by operating personnel's
After graphical instruction is converted to the code command that AUV control systems are appreciated that, task level is sent to by communication
Controller.Meanwhile remote handling system can be identified and locate according to false command of the digital chart to operating personnel on the bank
Reason, the instruction of mistake is avoided to cause navigational duty failure and the loss of ROV, and can be according to environmental information, using global path
Planning technology automatically generates optimization air route.
Remote handling system communicates with autonomous underwater vehicle on the bank communication.Such as Wi-Fi wireless routings
Communication mode, wireless digital broadcasting station communication mode, iridium communication mode, underwater sound communication mode.
TPLink wireless router module is housed, remote handling system passes through wireless on the bank inside autonomous underwater vehicle
Routing module and ROV composition LAN, realize that Wi-Fi is transmitted.Wireless digital broadcasting station can also be used, selection is domestic
TXD686 types 5W wireless digital broadcasting station, the electric current under its low-power consumption is 50mA, and transmitting range can reach more than 3 kilometers.Again
Iridium LLC's 9602-I modules can be used at a distance, possess satellite data communication function, and iridium satellite communication antenna uses
The passive iridium satellite antenna of UNITRONIC companies production, model SL3101SMAPLUG, iridium satellite antenna pass through coaxial cable and iridium
Star module connects.
The task level controller receives assignment instructions, and assignment instructions are converted into depth directional command and are sent to execution
Level controller；The task level controller receives the autonomous underwater vehicle sensing data, underwater for performing level controller and sending
Autonomous navigation device state parameter and control data are simultaneously stored；It is each that the task level controller receives autonomous underwater vehicle
Itself work state information of individual part.
Task level controller in the present embodiment contains the additional interface expansion board A3-CSD of LX3160 of Boke's skill from Shenzhen,
LX3160 is equipped with Windows XP operating systems, and interface expansion board A3-CSD has 4 Phototube Coupling asynchronous serial ports, with 16
Byte FIFO, I/O mouth mode access；With the non intelligent CAN Bus interfaces of 2 Phototube Couplings, memorymodel accesses, and address is with
Disconnected software can configure.
The execution level controller receives autonomous underwater vehicle sensing data and parsed, and obtains underwater autonomous boat
Row device state parameter；It is described to perform what level controller was sent according to autonomous underwater vehicle state parameter and task level controller
Depth directional command, navigation calculation is carried out, obtains control instruction, and control instruction is sent to back segment control by CAN
Device；The control instruction includes steering instruction and rotary speed instruction.
Execution level controller in the present embodiment contains the SCM/SGX1 (PC104 modules) of Boke's skill, the processing from Shenzhen
Device framework is x86 framework compatibility 64-bit microprocessors, and speed is equipped with real time operating system up to 300MHz, the control system
VxWorks, can gather the data of peripheral sensors in real time, and carry out autokinetic movement control.
Autonomous underwater vehicle sensor includes satellite positioning device, Doppler's fast reading instrument, pressure sensor and posture and passed
Sensor.Satellite positioning device selects Garmin GPS 15L model receivers, and its data-interface is RS232, the line selection of GPS location day
The SL1206 model gps antennas produced with Sarantel UK companies；Doppler velocity instrument is given birth to from LINKQUEST companies of the U.S.
The MicroDVL of production, it is mainly used in measuring three-dimensional absolute speed information, while sea floor height information can be provided, data-interface is
RS422；Pressure sensor selects the MPM4730 type intelligent pressure transmitters of Mike Sensitive Object, and data-interface connects for RS485
Mouthful.
Paragraph controller, which receives, after described performs the steering instruction that level controller is sent, and produces each rudder according to steering instruction
The pwm signal of machine, export to corresponding steering engine driver；Paragraph controller receives the rotating speed that execution level controller is sent and referred to after described
Order, is transmitted to motor driver.
The present embodiment posterior segment controller, as microprocessor, is controlled using DSPF2812 by CAN and task level
Device, perform the connection of level controller.Servos control：Receive and perform level controller to upper steering wheel, lower steering wheel, left rudder machine, right standard rudder machine
Steering instructs.Instructed according to steering, produce and export four road pwm signals of certain dutycycle, exported to steering engine controller, control
Four road steering wheels perform corresponding operation.Propeller control：Receive from the rotary speed instruction for performing level controller, gone here and there by RS232
Mouth is sent to motor driver, the rotating speed of propulsion electric machine is changed as requested.
The power-supply controller is by DSPF2812, power supply changeover device, bus transceiver, 5 current sensors, 7 relays
Device, 6 J30J series of receptacles compositions, the main program for being responsible for each system on ROV is for power-off and the transmission and distribution of information.
Task level controller, execution level controller, power-supply controller and rear paragraph controller are also connected with emergency mobile forces stop signal line；
Task level controller and execution level controller can send emergency mobile forces stop signal, and power-supply controller and rear paragraph controller detect
After emergency mobile forces stop signal, rear paragraph controller sends motor stalling instruction, and rudder angle is instructed on steering wheel, and power-supply controller is carried out to motor
Power-off.
Oneself state information is interacted between task level controller and execution level controller, when task level controller is with holding
When a certain controller in row level controller occurs abnormal, another controller diagnosis autonomous underwater vehicle state enables abnormal clothes
Business program.Task level controller passes through CAN communication mode, serial communication side with performing the information interaction of level controller
One or more realizations in formula, wireless communication mode.
Portable autonomous submarine navigation device operating procedure is as follows in the present embodiment：
Step 1：On the coast, plug switch is upper electric by portable AUV.
Step 2：After upper electricity success, wireless module establishes communication connection with control system on the bank, and timing ashore manipulates
System reports and submits GPS information.
Step 3：By remote control switch to electric on Navigation Control center, power-supply controller.
Step 4：After upper electricity success, Navigation Control central collection oneself and power-supply controller, DVL power-up state, send
MTI, GPS, depth transducer information are sent to user to control system on the bank, and every 2 seconds.
Step 5：By control system on the bank to electricity on motor driver, steering engine driver, and carry out self-test.
Step 6：The navigational duty of control system planning on the bank, the mission script that will have been planned, is transferred to portable by Wi-Fi
Formula AUV data record microcomputer, and hung portable AUV into predetermined waters by two people.
Step 7：Portable AUV is laid into water, is controlled using remote-control handle, water surface manipulation is carried out to it, entered
One step demonstrate,proves its various handling.Meanwhile it can also obtain the feedback of the various parameters inside portable AUV.
Step 8：After all going well, control system, which is sent, on the bank starts sailing command, and portable AUV according to planning in advance
Air route, autonomous navigation.
Step 9：During tasks carrying, it is possible to which tasks interrupt, floating of stopping in emergency, safety guarantee center will report and submit event
Hinder reason.
Step 10：After tasks carrying terminates, it can typically return ashore near operation control terminal.Now, operator on the bank
WI-FI communication connection embedded computer systems will be utilized, obtain numeration evidence in ROV, including navigational parameter, sonar data etc..
After the completion of data are downloaded, in the case where electricity allows, if any new task, new task is planned again according to step 6.Such as nothing
New task, finished voyage instruction is sent, and motor, steering engine controller are powered off.
Step 11：After portable AUV salvages recovery, power supply is closed by remote control switch, changes plug switch, cuts off total electricity
Source.Carry out the cleaning operation of ROV.Charge to half electricity, vanning keeping.
Although embodiments of the invention have been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to limitation of the present invention is interpreted as, one of ordinary skill in the art is not departing from the principle and objective of the present invention
In the case of above-described embodiment can be changed within the scope of the invention, change, replace and modification.
Claims (7)
- A kind of 1. portable underwater autonomous navigation device control device, it is characterised in that：Including remote handling system on the bank, task level Controller, perform level controller, power-supply controller and rear paragraph controller；Task level controller, perform level controller, power supply control Device and rear paragraph controller are in autonomous underwater vehicle；The remote handling system on the bank carries out information exchange by communication and task level controller；It is wherein distant on the bank Control operating system and produce assignment instructions, and assignment instructions are sent to by task level controller by communication；Task level Controller passes through the status information of the state parameter of autonomous underwater vehicle and autonomous underwater vehicle all parts wireless Communication mode is sent to remote handling system on the bank；The task level controller receives assignment instructions, and assignment instructions are converted into depth directional command and are sent to execution level control Device processed；The task level controller receives the autonomous underwater vehicle sensing data, underwater autonomous for performing level controller and sending ROV state parameter and control data are simultaneously stored；The task level controller receives each portion of autonomous underwater vehicle Itself work state information of part；The execution level controller receives autonomous underwater vehicle sensing data and parsed, and obtains autonomous underwater vehicle State parameter；The depth for performing level controller and being sent according to autonomous underwater vehicle state parameter and task level controller Directional command, navigation calculation is carried out, obtains control instruction, and control instruction is sent to rear paragraph controller by CAN；Institute Stating control instruction includes steering instruction and rotary speed instruction；Paragraph controller, which receives, after described performs the steering instruction that level controller is sent, and produces each steering wheel according to steering instruction Pwm signal, export to corresponding steering engine driver；Paragraph controller, which receives, after described performs the rotary speed instruction that level controller is sent, and turns Issue motor driver；The power-supply controller enters line program to autonomous underwater vehicle all parts and controlled for power-off.
- A kind of 2. portable underwater autonomous navigation device control device according to claim 1, it is characterised in that：Task level controls Device, execution level controller, power-supply controller and rear paragraph controller are also connected with emergency mobile forces stop signal line；Task level controller and execution Level controller can send emergency mobile forces stop signal, after power-supply controller and rear paragraph controller detect emergency mobile forces stop signal, after Paragraph controller sends motor stalling instruction, and rudder angle instructs on steering wheel, and power-supply controller powers off to motor.
- A kind of 3. portable underwater autonomous navigation device control device according to claim 2, it is characterised in that：The channel radio Letter mode includes Wi-Fi wireless routings communication mode, wireless digital broadcasting station communication mode, iridium communication mode, underwater sound communication side One or more in formula.
- A kind of 4. portable underwater autonomous navigation device control device according to claim 2, it is characterised in that：Task level controls Oneself state information is interacted between device and execution level controller, when task level controller is a certain in level controller with performing When controller occurs abnormal, another controller diagnosis autonomous underwater vehicle state enables exception service program.
- A kind of 5. portable underwater autonomous navigation device control device according to claim 4, it is characterised in that：Task level controls Device passes through CAN communication mode, serial communication mode, wireless communication mode with performing the information interaction of level controller In one or more realizations.
- A kind of 6. portable underwater autonomous navigation device control device according to claim 2, it is characterised in that：It is described distant on the bank Control operating system uses patterned mission planning software, passes through after the graphical instruction of operating personnel is converted into code command Communication is sent to task level controller；And remote handling system can be according to digital chart to operating personnel's on the bank False command is identified and handled.
- A kind of 7. portable underwater autonomous navigation device control device according to claim 2, it is characterised in that：Underwater autonomous boat Row device sensor includes satellite positioning device, Doppler's fast reading instrument, pressure sensor and attitude transducer.
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| CN108466683A (en) * | 2018-03-15 | 2018-08-31 | 西北工业大学 | A kind of portable autonomous submarine navigation device |
| CN108683433A (en) * | 2018-03-16 | 2018-10-19 | 西北工业大学 | A kind of submarine navigation device multipurpose radio communication device |
| CN108663938A (en) * | 2018-05-25 | 2018-10-16 | 哈尔滨工程大学 | A kind of UUV cluster-coordinator control methods considering communication topological transformation |
| CN108681338A (en) * | 2018-05-29 | 2018-10-19 | 中国科学院声学研究所 | A kind of telemetering and remote control system of submarine navigation device |
| CN108818574A (en) * | 2018-08-28 | 2018-11-16 | 深圳市智慧海洋科技有限公司 | Open, the restructural underwater robot control system of one kind and method |
| CN111290412A (en) * | 2018-12-07 | 2020-06-16 | 中国科学院沈阳自动化研究所 | Autonomous underwater robot water surface remote control system and method |
| CN111290411A (en) * | 2018-12-07 | 2020-06-16 | 中国科学院沈阳自动化研究所 | Modular autonomous underwater robot system |
| CN109613871A (en) * | 2018-12-18 | 2019-04-12 | 有份儿智慧科技股份有限公司 | Physical terminal type digital intelligent terminal in a kind of water |
| CN111459150A (en) * | 2019-01-02 | 2020-07-28 | 上海欧迅睿智能科技有限公司 | Multi-point control method for aircraft under water surface or high-humidity environment |
| CN111459150B (en) * | 2019-01-02 | 2023-08-22 | 上海欧迅睿智能科技有限公司 | Multi-point control method for aircraft in water surface or high humidity environment |
| CN110341917A (en) * | 2019-07-15 | 2019-10-18 | 浙江海呐科技有限公司 | Underwater unmanned autonomous navigation device |
| CN113093181A (en) * | 2021-03-22 | 2021-07-09 | 中国人民解放军海军航空大学青岛校区 | Intelligent detection method for moving object on sea |
| CN113156982B (en) * | 2021-04-20 | 2023-08-04 | 中山大学 | Underwater robot control system and control method thereof |
| CN113156982A (en) * | 2021-04-20 | 2021-07-23 | 中山大学 | Underwater robot control system and control method thereof |
| CN113311849A (en) * | 2021-05-25 | 2021-08-27 | 中国船舶重工集团公司第七0七研究所九江分部 | Self-propelled model navigation operation control system |
| CN113885372A (en) * | 2021-09-22 | 2022-01-04 | 河北汉光重工有限责任公司 | Underwater unmanned underwater vehicle controller based on double processors |
| CN114822141A (en) * | 2021-12-30 | 2022-07-29 | 宜昌测试技术研究所 | AUV simulation training system and simulation training method |
| CN114822141B (en) * | 2021-12-30 | 2024-03-22 | 宜昌测试技术研究所 | AUV simulation training system and simulation training method |
| CN114644098A (en) * | 2022-02-24 | 2022-06-21 | 深圳市吉影科技有限公司 | Novel high-power underwater booster control system |
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