CN109428325A - A kind of deepwater robot power supply system - Google Patents
A kind of deepwater robot power supply system Download PDFInfo
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- CN109428325A CN109428325A CN201710719181.7A CN201710719181A CN109428325A CN 109428325 A CN109428325 A CN 109428325A CN 201710719181 A CN201710719181 A CN 201710719181A CN 109428325 A CN109428325 A CN 109428325A
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- power supply
- water surface
- supply unit
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- ship
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- 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
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
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- Power Engineering (AREA)
- Laying Of Electric Cables Or Lines Outside (AREA)
Abstract
A kind of deepwater robot power supply system comprising: water surface power supply unit is arranged on ship and is used to handle low-voltage AC provided by generator on the ship being arranged on ship, obtains corresponding high voltage direct current；Undersea repeaters are used to transmit the high voltage direct current come to water surface power supply unit and convert, and the electric energy being converted to is transmitted to deepwater robot.The power supply system that three-phase alternating current is the motor power supply in deepwater robot is directlyed adopt compared to existing; this system is changed to two-wire power supply by original three lines power supply; and it only transmits active power required for the motor in deepwater robot; therefore the number of conductors for also allowing for entire umbilical cables is reduced; diameter of wire also reduces simultaneously, is also greatly lowered the weight and cost of umbilical cord cable in this way.
Description
Technical field
The present invention relates to robotic technology fields, specifically, being related to a kind of deepwater robot power supply system.
Background technique
Unmanned remotely controlled submersible vehicle (Remote Operated Vehicle, abbreviation ROV) is different for executing subsea tasks
The ROV function of type is varied, therefore ROV has been widely used in army, coast guard, maritime affairs, customs, nuclear power, water
The every field such as electricity, offshore oil, fishery, marine salvage, pipeline detection and scientific research of seas.
Currently, deepwater robot uses the motor operation inside traditional three-phase alternating-current powered and Direct Drive Robot,
This power supply mode has that inefficiency, starting overcurrent and required amount of redundancy are big.
Summary of the invention
To solve the above problems, the present invention provides a kind of deepwater robot power supply system, the system comprises:
Water surface power supply unit is arranged on ship and for being provided generator on the ship being arranged on the ship
Low-voltage AC handled, obtain corresponding high voltage direct current；
Undersea repeaters, setting are connect under water and with the water surface power supply unit, are used for the water surface for Denso
It sets the high voltage direct current that transmission comes to be converted, and the electric energy being converted to is transmitted to deepwater robot.
According to one embodiment of present invention, the water surface power supply unit includes:
Step-up transformer is connect with generator on the ship, for handing over low pressure provided by generator on the ship
Galvanic electricity is converted to corresponding first High Level AC Voltage；
First rectifier is connect with the step-up transformer, and first for coming to step-up transformer transmission is high
Pressure alternating current carries out handing over-directly conversion, obtains high voltage direct current.
According to one embodiment of present invention, the undersea repeaters pass through armouring umbilical cables and the water surface power supply unit
Connection.
According to one embodiment of present invention, the undersea repeaters pass through non-armouring umbilical cables and the deepwater robot
Connection.
According to one embodiment of present invention, the undersea repeaters include:
First inverter is connect with the water surface power supply unit, for what is come to water surface power supply unit transmission
High voltage direct current carries out inversion processing, obtains the second High Level AC Voltage.
According to one embodiment of present invention, the undersea repeaters include:
DC-DC current transformer is connect with the water surface power supply unit, the height for coming to water surface power supply unit transmission
Straightening galvanic electricity is handled, and low-voltage DC is obtained.
According to one embodiment of present invention, the undersea repeaters by way of wireless transmission with the deep-sea machine
People's connection.
According to one embodiment of present invention, the undersea repeaters include:
Second inverter is connect with the water surface power supply unit, for what is come to water surface power supply unit transmission
High voltage direct current carries out inversion processing, obtains third High Level AC Voltage.
Contactless power supply device is connect with second inverter, for transmitting second inverter
The electric energy come is transmitted to the electric energy receiver in the deepwater robot by non-contacting mode.
According to one embodiment of present invention, the undersea repeaters are integrated in umbilical cables management system.
Deepwater robot power supply system provided by the present invention is additionally arranged a rectifier on ship, can will boost
The three-phase alternating current that transformer is exported is converted to high voltage direct current and is exported.Three-phase alternating current is directlyed adopt compared to existing
Electricity is the power supply system of the motor power supply in deepwater robot, and this system is changed to two-wire power supply by original three lines power supply, and
It only transmits active power required for the motor in deepwater robot, therefore the number of conductors for also allowing for entire umbilical cables subtracts
It is few, while diameter of wire also reduces, and is also greatly lowered the weight and cost of umbilical cord cable in this way.
Meanwhile for deepwater robot power supply system provided by the present invention, underwater robot level run distance
Umbilical cables want much shorter relative to the distance from ship to undersea repeaters (i.e. from the water surface power supply unit to undersea repeaters),
Therefore underwater robot level run distance can also be ignored, which can also be considered as on the spot as in underwater robot
Motor provide reactive power, can also effectively reduce in this way reactive power transmit at a distance brought by voltage drop greatly, umbilical cord
The problems such as cable power loss is big and fever is serious.And by reducing the voltage drop in umbilical cables, which can also effectively mention
The voltage of high underwater receiving end.
In addition, deepwater robot power supply system provided by the present invention drives underwater by the way of frequency control
Motor operation in people.By carrying out frequency control to motor, which can effectively reduce the starting current of motor and be electric
Voltage required for machine provides, meanwhile, which can also control motor according to the actual conditions of load, to improve electricity
The operational efficiency of machine.In addition, the system can also effectively reduce the electricity in underwater robot by carrying out frequency control to motor
The weight of machine, while not needing to increase other equipment in robot under water, therefore the system can substantially reduce underwater machine
The overall weight and volume of device people is not only does this facilitate the ship resistance for reducing underwater robot, additionally it is possible to directly substantially reduce
The cost of underwater robot.
In addition, the system can also effectively reduce the virtual value of umbilical cables electric current, it is wound on the winch of deck to reduce circle
Umbilical cables excess temperature problem, also reduce fever on entire umbilical cables (thousands of rice can be up to) due to resistance simultaneously in this way
Caused by energy loss.
Other features and advantages of the present invention will be illustrated in the following description, also, partly becomes from specification
It obtains it is clear that understand through the implementation of the invention.Objectives and other advantages of the present invention can be by specification, right
Specifically noted structure is achieved and obtained in claim and attached drawing.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is required attached drawing in technical description to do simple introduction:
Fig. 1 is the structural schematic diagram of deepwater robot power supply system according to an embodiment of the invention；
Fig. 2 is the structural schematic diagram of deepwater robot power supply system according to an embodiment of the invention；
Fig. 3 is the structural schematic diagram of deepwater robot power supply system according to an embodiment of the invention；
Fig. 4 is the structural schematic diagram of deepwater robot power supply system according to an embodiment of the invention.
Specific embodiment
Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings and examples, how to apply to the present invention whereby
Technological means solves technical problem, and the realization process for reaching technical effect can fully understand and implement.It needs to illustrate
As long as not constituting conflict, each feature in each embodiment and each embodiment in the present invention can be combined with each other,
It is within the scope of the present invention to be formed by technical solution.
Meanwhile in the following description, for illustrative purposes and numerous specific details are set forth, to provide to of the invention real
Apply the thorough understanding of example.It will be apparent, however, to one skilled in the art, that the present invention can not have to tool here
Body details or described ad hoc fashion are implemented.
For the present invention, deepwater robot power supply system should not increase the weight and body of deepwater robot ontology
Product, it is contemplated that the problem, the mode that deepwater robot power supply system provided by the present invention uses undersea repeaters are come for depth
Extra large robot power supply.Since undersea repeaters are not moved with the movement of deepwater robot, once undersea repeaters cloth
It sets that its position is substantially motionless relative to ship, can also realize the case where not increasing the running resistance of deepwater robot in this way
Lower realize nearby drives motor in deepwater robot.
In order to clearly illustrate the structure of deepwater robot power supply system provided by the present invention, principle and excellent
Point is further described the power supply system below in conjunction with different embodiments.
Embodiment one:
Fig. 1 shows the structural schematic diagram of deepwater robot power supply system provided by the present embodiment.It, should in the present embodiment
Deepwater robot is preferably unmanned remotely controlled submersible vehicle ROV.
As shown in Figure 1, deepwater robot power supply system provided by the present embodiment preferably includes: water surface power supply unit
101 and undersea repeaters 102.Wherein, water surface power supply unit 101 is arranged on ship, with generator 100 on the ship on ship
It connects, low-voltage AC provided by generator 100 can also be transmitted to water surface power supply unit 101 on such ship.Certainly, exist
In other embodiments of the invention, according to actual needs, generator 100 can also be used as the one of water surface power supply unit 101 on ship
Component part, the invention is not limited thereto.
In the present embodiment, water surface power supply unit 101 can be to low-voltage AC provided by generator 100 on ship at
Reason, to obtain corresponding high voltage direct current.Specifically, as shown in Figure 1, in the present embodiment, water surface power supply unit 101 is preferably
Including step-up transformer 101a and the first rectifier 101b.Wherein, step-up transformer 101a is connect with generator 100 on ship,
Boost conversion can be carried out to low-voltage AC provided by generator 100 on ship, to obtain the first High Level AC Voltage.First
Rectifier 101b is connect with step-up transformer 101a, and the first High Level AC Voltage come can be transmitted to step-up transformer 101a
It carries out handing over-directly conversion, to obtain high voltage direct current corresponding with the first High Level AC Voltage.
In the present embodiment, undersea repeaters 102 are preferably connect by armouring umbilical cables with water surface power supply unit 101,
The high voltage direct current come can be transmitted to water surface power supply unit 101 to convert, and the electric energy being converted to is transmitted to therewith
The deepwater robot 103 of connection, to drive the corresponding motor in deepwater robot 103 to run.
Specifically, in the present embodiment, undersea repeaters 102 be preferably provided at the underface of ship and in seabed or
For person at the position of sea bed, the distance between such undersea repeaters 102 and ship also can be short as far as possible.In deep-sea machine
People 103 run during, due to undersea repeaters 102 be it is static relative to ship, undersea repeaters 102 in addition to need
Overcome and does not need external to provide other energy to maintain self-position (such as not need to pass through outside self gravity and buoyancy difference
Propeller maintains self-position).In the present embodiment, undersea repeaters 102 can overcome itself weight by armouring umbilical cables
Power and buoyancy difference simultaneously keep itself opposing stationary between ship.
In the present embodiment, undersea repeaters 102 preferably include the first inverter 102a.First inverter 102a is logical
Armouring umbilical cables are crossed to connect with the positive electrode and negative electrode of the first rectifier 101b, it can be to height provided by the first rectifier 101b
Straightening galvanic electricity carries out inversion processing, to obtain the second High Level AC Voltage.Wherein, what the first rectifier 101 was exported is second high
Pressure alternating current is three phase variable frequency alternating current, preferably passes through the motor in non-armouring umbilical cables and unmanned remotely controlled submersible vehicle ROV
Connection, so that driving motor operates such that unmanned remotely controlled submersible vehicle ROV can be move freely under water.
Since umbilical cord cable management system (Tether Management System, abbreviation TMS) is located at ship in ROV system
Immediately below oceangoing ship and positioned at seabed or at the position of near Sea Bottom, and in deepwater robot power supply system provided by the present embodiment
Undersea repeaters 102 just need in above-mentioned position, therefore in the present embodiment, undersea repeaters 102 can preferably collect
At in TMS.
Deepwater robot power supply system provided by the present embodiment is additionally arranged a rectifier on ship, can will rise
The three-phase alternating current that pressure transformer is exported is converted to high voltage direct current and is exported.Three intersections are directlyed adopt compared to existing
Galvanic electricity is the power supply system of the motor power supply in deepwater robot, and this system is changed to two-wire power supply by original three lines power supply, and
And it only transmits active power required for the motor in deepwater robot, therefore also allows for the number of conductors of entire umbilical cables
It reduces, while diameter of wire also reduces, and is also greatly lowered the weight and cost of umbilical cord cable in this way.
Meanwhile for the deepwater robot power supply system provided by the present embodiment, unmanned remotely controlled submersible vehicle ROV is horizontal
The umbilical cables of range ability are relative to the distance from ship to undersea repeaters (i.e. from the water surface power supply unit to undersea repeaters)
Much shorter is wanted, therefore unmanned remotely controlled submersible vehicle ROV level run distance can also be ignored, which can also be considered as on the spot
Reactive power is provided for the motor in unmanned remotely controlled submersible vehicle ROV, reactive power can be also effectively reduced in this way and pass at a distance
The problems such as voltage drop brought by defeated is big, umbilical cables power loss is big and fever is serious.And by reducing the electricity in umbilical cables
Pressure drop, the system can also effectively improve the voltage of underwater receiving end.
In addition, deepwater robot power supply system provided by the present embodiment drives nobody distant by the way of frequency control
Control the motor operation in submersible ROV.By carrying out frequency control to motor, which can effectively reduce the starting electricity of motor
It flows and provides required voltage for motor, meanwhile, which can also control motor according to the actual conditions of load, thus
Improve the operational efficiency of motor.In addition, the system can also effectively reduce unmanned remote controlled by carrying out frequency control to motor
The weight of motor in submersible ROV, while not needing to increase other equipment on unmanned remotely controlled submersible vehicle ROV, therefore should
System can substantially reduce the overall weight and volume of unmanned remotely controlled submersible vehicle ROV, be not only does this facilitate and reduce unmanned remote controlled dive
The ship resistance of hydrophone ROV, additionally it is possible to directly substantially reduce the cost of unmanned remotely controlled submersible vehicle ROV.
In addition, the system can also effectively reduce the virtual value of umbilical cables electric current, it is wound on the winch of deck to reduce circle
Umbilical cables excess temperature problem, also reduce fever on entire umbilical cables (thousands of rice can be up to) due to resistance simultaneously in this way
Caused by energy loss.
Embodiment two:
Fig. 2 shows the structural schematic diagrams of deepwater robot power supply system provided by the present embodiment.
As shown in Fig. 2, similarly with deepwater robot power supply system provided by embodiment one, provided by the present embodiment
Deepwater robot power supply system preferably equally includes: water surface power supply unit 101 and undersea repeaters 102.Wherein, the water surface is powered
The structure of device water surface power supply unit 101 and realize that the principle of its function illustrates content phase to related above-described embodiment one
Together, therefore no longer the related content of water surface power supply unit water surface power supply unit 101 is repeated herein.
For certain unmanned remotely controlled submersible vehicle ROV, mounted inside has the underwater inverter circuit being connected to motor.Such as
Shown in Fig. 2, unmanned remotely controlled submersible vehicle ROV include multiple motors (such as first motor 104a, the second motor 104b ..., N
Motor 104n etc.), it is corresponding with number of motors, unmanned remotely controlled submersible vehicle ROV further include multiple underwater inverter circuits (such as
First underwater inverter circuit 103a, the second underwater inverter circuit 103b ..., the underwater inverter circuit 103n of N etc.), these motors
It is correspondingly connected with with underwater inverter circuit.
For this kind of unmanned remotely controlled submersible vehicle ROV, since motor is connected with inverter circuit, it is transmitted to the electricity of submersible
Direct current can then be should be.Therefore, in the present embodiment, undersea repeaters 102 preferably include DC-DC current transformer 102b.DC-DC becomes
Stream device 102b is connect with the first rectifier 101b, can be transmitted the high voltage direct current come to the first rectifier 101b and be handled
To realize decompression and isolation to high voltage direct current, to obtain corresponding low-voltage DC, and by the low-voltage direct electrical transmission
To the underwater inverter circuit being attached thereto, to drive corresponding motor operation.
In the present embodiment, the connection of undersea repeaters 102 and water surface power supply unit 101 and unmanned remotely controlled submersible vehicle ROV
Mode is identical as corresponding contents in above-described embodiment one, therefore no longer repeats herein the related content of undersea repeaters 102.
Embodiment three:
Fig. 3 shows the structural schematic diagram of deepwater robot power supply system provided by the present embodiment.
In the present embodiment, deepwater robot is preferably autonomous underwater submersible (Autonomous Underwater
Vehicle, abbreviation AUV).Autonomous underwater submersible is usually cableless underwater robot, can have scope of activities big, motor-driven
The advantages that performance is good, safety, intelligence.For such underwater robot, power with deepwater robot provided by embodiment one
Similarly, deepwater robot power supply system provided by the present embodiment preferably equally includes: 101 He of water surface power supply unit to system
Undersea repeaters 102.Wherein, the structure of water surface power supply unit water surface power supply unit 101 and realize the principle of its function with it is upper
State in embodiment one it is related illustrate that content is identical, therefore herein no longer to the phase of water surface power supply unit water surface power supply unit 101 inside the Pass
Appearance is repeated.
Autonomous underwater submersible AUV is provided in the process of work usually using the battery that itself is equipped with for motor
Electric energy.For the autonomous underwater submersible AUV to charge for using power cable for the battery of therein, due to logical
Often using direct current come to charge the battery, therefore as shown in figure 3, similarly with undersea repeaters provided by embodiment two,
Undersea repeaters 102 preferably equally include DC-DC current transformer in deepwater robot power supply unit provided by the present embodiment
102c.DC-DC current transformer 102c is connect with the first rectifier 101b, can transmit the high straightening of coming to the first rectifier 101b
Galvanic electricity is handled to realize decompression and isolation to high voltage direct current, to obtain corresponding low-voltage DC.
When autonomous underwater submersible AUV is in off working state or needs to charge, DC-DC current transformer 102c can lead to
Power cable is crossed to connect with the battery 105 in autonomous underwater submersible AUV, so also can by power cable to
Battery 105 transmits low-voltage DC, to charge for battery 105.After 105 charging complete of battery, autonomous underwater
Submersible AUV will be disconnected with undersea repeaters 102, and using electric energy provided by battery 105 come driving motor operation.
Certainly, it for certain autonomous underwater submersible AUV, is also possible to by the way of other contactless chargings.
Specifically, as shown in figure 4, for this kind of autonomous underwater submersible AUV, inside can also be provided with non-contact type electric energy reception
Device 106 and rectification circuit 107.Wherein, non-contact type electric energy receiver 106 for receive it is external by contactless transmission come
Electric energy, and corresponding alternating current is generated according to the electric energy that receives.Rectification circuit 107 and non-contact type electric energy receiver 106
Connection can transmit the alternating current come to electric energy receiver 106 and carry out handing over-directly conversion, and the direct current that will be converted to
It is transmitted to the battery 105 being attached thereto, to charge for battery 105.
Therefore, in the present embodiment, undersea repeaters 102 preferably include the second inverter 102d and non-contact power supply
Device 102e.Wherein, the second inverter 102d is connect by armouring umbilical cables with the positive electrode and negative electrode of the first rectifier 101b,
It can carry out inversion processing to high voltage direct current provided by the first rectifier 101b, to obtain third High Level AC Voltage.
Contactless power supply device 102e is connect with the second inverter 102d, is used to transmit the second inverter 102d
Electric energy is transmitted to electric energy receiver 106 by non-contacting mode, to realize the charging to battery 105.
In the present embodiment, undersea repeaters 102 and phase in the connection type and above-described embodiment one of water surface power supply unit 101
It answers content identical, therefore no longer the related content of undersea repeaters 102 is repeated herein.
It should be understood that disclosed embodiment of this invention is not limited to specific structure disclosed herein, and should prolong
Reach the equivalent substitute for these features that those of ordinary skill in the related art are understood.It is to be further understood that using herein
Term be used only for the purpose of describing specific embodiments, and be not intended to limit.
" one embodiment " or " embodiment " mentioned in specification means the special characteristic described in conjunction with the embodiments, structure
Or characteristic is included at least one embodiment of the present invention.Therefore, the phrase " reality that specification various places throughout occurs
Apply example " or " embodiment " the same embodiment might not be referred both to.
Although above-mentioned example is used to illustrate principle of the present invention in one or more application, for the technology of this field
For personnel, without departing from the principles and ideas of the present invention, hence it is evident that can in form, the details of usage and implementation
It is upper that various modifications may be made and does not have to make the creative labor.Therefore, the present invention is defined by the appended claims.
Claims (9)
1. a kind of deepwater robot power supply system, which is characterized in that the system comprises:
Water surface power supply unit is arranged on ship and for low provided by generator on the ship being arranged on the ship
Pressure alternating current is handled, and corresponding high voltage direct current is obtained；
Undersea repeaters, setting are connect under water and with the water surface power supply unit, for passing to the water surface power supply unit
Defeated next high voltage direct current is converted, and the electric energy being converted to is transmitted to deepwater robot.
2. the system as claimed in claim 1, which is characterized in that the water surface power supply unit includes:
Step-up transformer is connect with generator on the ship, is used for low-voltage AC provided by generator on the ship
Be converted to corresponding first High Level AC Voltage；
First rectifier is connect with the step-up transformer, and the first high pressure for coming to step-up transformer transmission is handed over
Galvanic electricity carries out handing over-directly conversion, obtains high voltage direct current.
3. system as claimed in claim 1 or 2, which is characterized in that the undersea repeaters by armouring umbilical cables with it is described
The connection of water surface power supply unit.
4. system according to any one of claims 1 to 3, which is characterized in that the undersea repeaters pass through non-armouring navel
Band cable is connect with the deepwater robot.
5. system as claimed in claim 4, which is characterized in that the undersea repeaters include:
First inverter is connect with the water surface power supply unit, the high pressure for coming to water surface power supply unit transmission
Direct current carries out inversion processing, obtains the second High Level AC Voltage.
6. system as claimed in claim 4, which is characterized in that the undersea repeaters include:
DC-DC current transformer is connect with the water surface power supply unit, the high straightening for coming to water surface power supply unit transmission
Galvanic electricity is handled, and low-voltage DC is obtained.
7. system according to any one of claims 1 to 3, which is characterized in that the undersea repeaters pass through wireless transmission
Mode connect with the deepwater robot.
8. system as claimed in claim 7, which is characterized in that the undersea repeaters include:
Second inverter is connect with the water surface power supply unit, the high pressure for coming to water surface power supply unit transmission
Direct current carries out inversion processing, obtains third High Level AC Voltage.
Contactless power supply device is connect with second inverter, for carry out second inverter transmission
Electric energy is transmitted to the electric energy receiver in the deepwater robot by non-contacting mode.
9. such as system according to any one of claims 1 to 8, which is characterized in that the undersea repeaters are integrated in umbilical cables
In management system.
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| CN201710719181.7A CN109428325A (en) | 2017-08-21 | 2017-08-21 | A kind of deepwater robot power supply system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710719181.7A CN109428325A (en) | 2017-08-21 | 2017-08-21 | A kind of deepwater robot power supply system |
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| CN201710719181.7A Pending CN109428325A (en) | 2017-08-21 | 2017-08-21 | A kind of deepwater robot power supply system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111865127A (en) * | 2019-04-29 | 2020-10-30 | 株洲中车时代电气股份有限公司 | Water surface power supply for underwater remote control robot and underwater remote control robot |
| CN112249278A (en) * | 2020-10-30 | 2021-01-22 | 株洲中车时代电气股份有限公司 | Power distribution and driving system of remote control underwater robot ROV |
| CN113541123A (en) * | 2021-09-07 | 2021-10-22 | 天津海翼科技有限公司 | Multi-wire system high-voltage power supply system for remotely controlling underwater robot |
| CN113922881A (en) * | 2021-09-17 | 2022-01-11 | 中国科学院深海科学与工程研究所 | Optical fiber release management repeater for deep sea equipment |
| CN117424242A (en) * | 2023-12-18 | 2024-01-19 | 上海交通大学三亚崖州湾深海科技研究院 | Shipborne boosting device and method with ultra-long-distance variable-frequency starting function |
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| CN102341561A (en) * | 2009-03-27 | 2012-02-01 | 卡梅伦国际有限公司 | Dc powered subsea inverter |
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| JP2006231951A (en) * | 2005-02-22 | 2006-09-07 | Japan Agengy For Marine-Earth Science & Technology | Electric power unit of diving machine |
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| CN105703458A (en) * | 2016-03-25 | 2016-06-22 | 哈尔滨工程大学 | Underwater wireless charging equipment for autonomous underwater vehicle |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111865127A (en) * | 2019-04-29 | 2020-10-30 | 株洲中车时代电气股份有限公司 | Water surface power supply for underwater remote control robot and underwater remote control robot |
| CN112249278A (en) * | 2020-10-30 | 2021-01-22 | 株洲中车时代电气股份有限公司 | Power distribution and driving system of remote control underwater robot ROV |
| WO2022088315A1 (en) * | 2020-10-30 | 2022-05-05 | 株洲中车时代电气股份有限公司 | Power distribution and driving system for remotely underwater operated vehicle (rov) |
| CN113541123A (en) * | 2021-09-07 | 2021-10-22 | 天津海翼科技有限公司 | Multi-wire system high-voltage power supply system for remotely controlling underwater robot |
| CN113541123B (en) * | 2021-09-07 | 2021-12-14 | 天津海翼科技有限公司 | Multi-wire system high-voltage power supply system for remotely controlling underwater robot |
| CN113922881A (en) * | 2021-09-17 | 2022-01-11 | 中国科学院深海科学与工程研究所 | Optical fiber release management repeater for deep sea equipment |
| CN117424242A (en) * | 2023-12-18 | 2024-01-19 | 上海交通大学三亚崖州湾深海科技研究院 | Shipborne boosting device and method with ultra-long-distance variable-frequency starting function |
| CN117424242B (en) * | 2023-12-18 | 2024-03-26 | 上海交通大学三亚崖州湾深海科技研究院 | Shipborne boosting device and method with ultra-long-distance variable-frequency starting function |
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Application publication date: 20190305 |