CN113895599A - Long-term on-duty AUV (autonomous underwater vehicle) submarine connection base station and non-contact operation and maintenance system and method thereof - Google Patents
Long-term on-duty AUV (autonomous underwater vehicle) submarine connection base station and non-contact operation and maintenance system and method thereof Download PDFInfo
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- CN113895599A CN113895599A CN202111496025.1A CN202111496025A CN113895599A CN 113895599 A CN113895599 A CN 113895599A CN 202111496025 A CN202111496025 A CN 202111496025A CN 113895599 A CN113895599 A CN 113895599A
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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
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- 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
- B60L53/30—Constructional details of charging stations
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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
- 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
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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
- 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
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
-
- 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
- Y02T90/12—Electric charging stations
-
- 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
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
Abstract
The invention discloses a long-term on-duty AUV seabed connection base station and a non-contact operation and maintenance system and method thereof, wherein the long-term on-duty AUV seabed connection base station comprises a sensor end and a fixed end; the sensor end comprises sensor equipment, a first conical watertight coil, a first high-frequency electromagnetic wave communication antenna and a stainless iron block; the fixed end comprises a connection port, a battery pack, a second conical water-tight coil, a second high-frequency electromagnetic wave communication antenna and an electromagnet for attracting and locking the end of the sensor and the fixed end. When the AUV seabed docking base station has insufficient battery pack energy and the sensor needs to be cleaned, the sensor end is pulled to the sea surface through the bearing rope for cleaning and maintenance, then the charging device is lowered down along the guide rope and is docked with the fixed end of the AUV seabed docking base station in a non-contact manner, the battery pack of the AUV seabed docking base station is charged, and the AUV seabed docking base station achieves a long-term duty target.
Description
Technical Field
The invention relates to the technical field of an operation and maintenance method of an AUV (autonomous underwater vehicle) submarine connection base station, in particular to a long-term on-duty AUV submarine connection base station and a non-contact operation and maintenance system and method thereof.
Background
The seabed connection base station is used as an AUV charging station and is usually arranged on the seabed to be connected with a seabed observation network, and the base station is connected with a shore base through the seabed observation network to supply power. With the increase of the observation requirements of people on the open sea, the connection base station serving as a part of the cable system submarine observation network cannot meet the corresponding observation requirements, so that the development of a submarine connection base station which is on duty for a long time and independently supplies power as an AUV charging station is urgently needed.
Lithium batteries are widely used in underwater equipment as a high-density energy source which is mature commercially, but a connection base station powered by batteries has a moment of energy exhaustion. The cost of ships required for salvaging and replacing the battery pack of the submarine docking station is very high, so that a feasible battery energy supply scheme of the submarine base station needs to be developed.
The Chinese patent document with the application number of CN201610962200.4 discloses an underwater connection base station based on photovoltaic power generation, and a power generation system is very dependent on the illumination intensity of the sea surface and cannot work normally under poor climatic conditions; chinese patent application No. CN201410533343.4 discloses a submarine docking station based on submarine ocean current power generation, which depends on a high-flow-rate marine environment, and the submarine flow field environment has great uncertainty, so that there is also great limitation in energy supply in this way.
The submarine docking base station is usually provided with equipment such as an underwater lamp, an ocean current meter, an ultra-short baseline positioning system and the like for guiding the AUV to dock. Due to the long-term residence in the seabed, the underwater lamp glass sealing shell on the connection base station and the energy calling device of the acoustic sensor are easily covered by marine organisms and silt, so that the equipment fails. Chinese patent application No. CN202020334464.7 discloses a method for preventing biological adhesion based on ultraviolet lamp irradiation, but this method has not proved to be effective for a long time in practical application and cannot solve the problem of non-biological adhesion such as silt.
By combining the background analysis, a long-term effective battery energy supply method for the submarine connection base station is needed, and a relatively economic and reliable operation and maintenance means is needed to ensure that the submarine connection base station sensor works reliably for a long time.
Disclosure of Invention
The invention provides a long-term on-duty AUV (autonomous underwater vehicle) submarine connection base station, a non-contact operation and maintenance system and a non-contact operation and maintenance method thereof.
The technical scheme of the invention is as follows:
a long-term on-duty AUV seabed connection base station comprises a sensor end and a fixed end;
the sensor end includes:
the sensor equipment is used for guiding AUV connection and guide;
a first conical watertight coil disposed at a bottom of the sensor end;
a first high frequency electromagnetic wave communication antenna;
the stainless iron block is arranged at the bottom of the sensor end;
the middle of the sensor end is hollowed out to form a through hole penetrating through the top and the bottom;
the fixed end comprises:
a docking port adapted for AUV docking;
the battery pack stores electric energy and supplies power to the sensor end and the docked AUV in a non-contact mode;
the second conical watertight coil is arranged at the top of the fixed end, is matched with the first conical watertight coil and is used for non-contact energy transmission between the sensor end and the fixed end;
the second high-frequency electromagnetic wave communication antenna is matched with the first high-frequency electromagnetic wave communication antenna and is used for non-contact information interaction between the sensor end and the fixed end;
the electromagnet is arranged at the top of the fixed end, is opened and closed through remote control, is matched with the stainless iron block and is used for attracting and locking the sensor end and the fixed end.
After the sensor end is plugged into the fixed end, the fixed end provides electric energy for the sensor end through the first conical watertight coil and the second conical watertight coil, and the fixed end transmits the recovered data to the sensor end through the first high-frequency electromagnetic wave communication antenna and the second high-frequency electromagnetic wave communication antenna for storage.
The long-term on-duty AUV seabed connection base station is connected through the conical coil structure, and has good position fault-tolerant capability; meanwhile, due to the non-contact energy and signal transmission mode, the plugging operation of a watertight part needing to be accurately aligned on the sea bottom is avoided, and the difficulty of offshore operation is reduced.
Preferably, the maximum diameter of the second conical watertight coil is more than 1.5 times of the maximum diameter of the first conical watertight coil.
The sensor device comprises an underwater lamp, an ultra-short baseline positioning system transponder and a current meter.
Preferably, the battery pack outputs electric energy to the H-bridge AC/DC converter for conditioning, and then performs non-contact charging on the docked AUV.
Preferably, the connection port is of a horn mouth-shaped structure, so that AUV docking is facilitated.
Preferably, the opening and closing of the electromagnet are remotely controlled through communication between the acoustic communication equipment and the ultra-short baseline positioning system transponder.
The invention also provides an operation and maintenance system of the long-term on-duty AUV submarine connection base station, which comprises:
the floating ball is provided with a positioning system;
one end of the guide rope is fixed on the fixed end, and the other end of the guide rope is fixed on the floating ball after penetrating through the through hole of the sensor end;
one end of the force bearing rope is fixed on the sensor end, and the other end of the force bearing rope is fixed on the floating ball;
the charging device comprises a third conical watertight coil matched with the second conical watertight coil; the middle of the charging device is hollow, and a through hole penetrating through the top and the bottom is formed.
Preferably, the operation and maintenance system further comprises a buoyancy material mounted on the sensor end for adjusting the wet weight of the sensor end.
When in use, the floating ball floats on the sea surface.
More preferably, the wet weight of the sensor end is set to be within 3kg by a buoyant material. The stable lowering condition is ensured, and meanwhile, the personnel on the water surface can be conveniently lifted from the seabed.
The invention also provides an operation and maintenance method of the long-term on-duty AUV submarine connection base station, which comprises a cleaning and maintenance process of a sensor end and a charging process of a battery pack;
the cleaning and maintenance process of the sensor end comprises the following steps:
finding the floating ball through a positioning system of the floating ball, remotely controlling to close the electromagnet, pulling the sensor end up to the sea surface through the bearing rope for cleaning and maintenance, and downloading data stored by the sensor end;
after cleaning and maintenance are finished, the bearing rope is in a loose state, the sensor end slides down to the fixed end along the guide rope, and the connection between the sensor end and the fixed end is finished through the fault-tolerant capability of the first conical watertight coil and the second conical watertight coil;
remotely controlling to start the electromagnet to enable the sensor end and the fixed end to be sucked and locked;
the charging process of the battery pack comprises the following steps:
the sensor end is pulled up to the sea surface, the charging device is lowered to the sea bottom along the guide rope and is connected with the fixed end, the charging device obtains electric energy from a surface ship through a submarine cable, and the electric energy is used for charging the battery pack in a non-contact mode through the third conical watertight coil and the second conical watertight coil;
after charging is finished, the charging device is pulled up to the sea surface, the sensor end is placed to the seabed and is connected with the fixed end, and then the sensor end is attracted and locked.
Compared with the prior art, the invention has the beneficial effects that:
(1) the AUV seabed connection base station does not need to be connected with a cable system seabed observation network for power supply, can realize long-term on-duty residence at the seabed of deep sea and far sea by self-power supply of the battery pack and regular energy supply, and is not influenced by environmental factors such as sun illumination, seabed ocean current and the like;
(2) the AUV seabed connection base station is designed in a separated mode, and by means of the water surface floating ball and the guide rope, the sensors and related data of the sensors can be quickly operated, maintained and downloaded on the sea, and the offshore operation cost is reduced;
(3) the sensor end and the fixed end of the AUV seabed connection base station are connected through the conical coil structure, and the AUV seabed connection base station has good position fault tolerance; meanwhile, due to the non-contact energy and signal transmission mode, the plugging operation of a watertight part needing to be accurately aligned on the sea bottom is avoided, and the difficulty of offshore operation is reduced.
Drawings
Fig. 1 is a schematic view of sensor end lowering of a submarine docking station;
fig. 2 is a schematic view of the charging device being lowered;
FIG. 3 is a schematic diagram of the system energy flow.
Detailed Description
The invention will be described in further detail below with reference to the drawings and examples, which are intended to facilitate the understanding of the invention without limiting it in any way.
As shown in fig. 1, the subsea docking station is designed to include two parts, i.e., a sensor end 1 and a fixed end 2, wherein the sensor end 1 is equipped with sensor equipment required for AUV docking guidance, including an underwater lamp 5, an ultra-short baseline positioning system transponder 4, and a current meter 3. The bottom of the sensor end 1 of the seabed docking base station is provided with a conical watertight coil 8 for non-contact energy transmission between the sensor end 1 and the fixed end 2; the top of the conical watertight coil 8 is provided with a high-frequency electromagnetic wave communication antenna 12 for non-contact information interaction with the base station fixed end 2; in addition, a stainless iron block 10 is arranged below the sensor end 1 and is used for being fixed with the fixed end 2 in an electromagnetic attraction mode. The middle space of the sensor end 1 is designed to be a hollow form, a guide rope 6 is fixedly connected above the fixed end 2 of the base station and penetrates out of the hollow space of the middle part, a bearing rope 7 is led out of the upper part of the sensor end 1, the two ropes are fixedly connected with a sea surface floating ball 18 at the same time, and the other end of the bearing rope 7 is fixedly connected above the sensor end 1; the buoyancy material is arranged on the top of the sensor end 1, so that the wet weight of the sensor end 1 of the base station in water is configured within 3kg, and the sensor end can be conveniently lifted from the seabed by water surface personnel while ensuring stable lowering conditions;
the fixed end 2 of the AUV submarine docking station is designed with a horn mouth structure 14 suitable for AUV 15 docking. When the AUV enters the base station, the battery pack 16 of the base station outputs electric energy to the H-bridge AC/DC converter 17 for conditioning, and then the base station carries out non-contact charging on the AUV. A conical watertight coil 9 matched with the conical watertight coil 8 is designed right above the fixed end 2 of the seabed docking base station, and the maximum diameter of the conical watertight coil 9 is 1.5 times that of the conical watertight coil 8 of the sensor end 1 of the base station; the communication antenna 13 of the base station fixed end 2 is installed in the same form and orientation as the sensor end 1. When the sensor end 1 of the base station is in non-contact connection with the fixed end 2 along the guide rope 6 (namely, the coil 8 of the sensor end 1 falls in any space in the coil 9 of the fixed end 2), the sensor equipment of the sensor end 1 of the base station acquires electric energy in a non-contact mode through the fixed end 2, and simultaneously transmits data recovered by the base station to the sensor end 1 in a non-contact mode for recording;
when the sensor end 1 of the seabed docking base station needs cleaning and maintenance, operation and maintenance personnel search a floating ball through position information returned by a Beidou antenna 19 on the floating ball, and release an electromagnet 11 of the seabed docking base station through acoustic communication to enable the fixed end 1 to be loosened from the sensor end 2; then the floating ball is separated from the sea surface, the sensor end 1 is pulled up to the sea surface through the bearing rope 7 for operation and maintenance, and the guide rope 6 is tied on the surface ship; after operation and maintenance are finished, the guide rope 6 is loosened and penetrates into the middle part of the sensor end 1 again, meanwhile, the guide rope 6 is tensioned upwards, the force bearing rope 7 is in a loose state, the sensor end 1 slowly slides down to the seabed fixed end 2 of the connection base station along the guide rope 6, and connection of the fixed end 2 and the sensor end 1 is finished through the fault-tolerant capability of the conical coil; and finally, the acoustic communication equipment carried on the mother ship is communicated with the ultra-short baseline positioning system responder 4, the electromagnet 11 is triggered to suck and lock the upper end and the lower end, and finally the floating ball 18 is bound.
When the battery pack 16 of the subsea docking station is not sufficiently charged to charge the AUV or power the sensor, the battery pack 16 of the subsea stationary end 1 needs to be charged. As shown in fig. 2, the sensor terminal 1 is first pulled up to the sea surface, and the charging device 20 is slowly lowered down along the guide rope 6 to the seabed to be connected with the fixed terminal 2, and the charging device 20 obtains electric energy from the surface ship 22 through the sea cable 21, so that the energy is transmitted to the seabed fixed terminal 2 through the coil, and then the conditioned energy is input to the base station battery pack 16.
Therefore, the energy flow direction of the submarine docking base station system proposed by the present invention is shown in fig. 3: when the submarine connection base station works normally, the energy of the base station battery pack 16 is output in two paths, one path is used for charging an AUV (autonomous Underwater vehicle) by a base station bell mouth coil, and the other path is output to the sensor end 1 for supplying power to external equipment; when the energy of the seabed connection base station is insufficient, the output energy of the mother ship is supplied to the coil of the charging device through the submarine cable, and then is supplied to the battery of the base station through electric energy conditioning. Therefore, in the system, the coil at the fixed end 2 of the submarine docking station has a bidirectional energy transfer function.
After the battery of the seabed base station is charged, personnel on the ship pull up the charging device to the sea surface for recycling, then penetrate the guide rope 6 into the middle part of the sensor end 1 again, simultaneously pull up the guide rope 6 to enable the sensor end to slowly slide down to the seabed fixed end of the connection base station along the guide rope 6, finally trigger the electromagnet through the acoustic communication device to suck and lock the sensor end and the guide rope and the bearing rope again, and bind the floating ball with the guide rope and the bearing rope.
The above-mentioned embodiments are intended to illustrate the technical solutions and advantages of the present invention, and it should be understood that the above-mentioned embodiments are only specific embodiments of the present invention, and are not intended to limit the present invention, and any modifications, additions, equivalents, etc. made within the scope of the principles of the present invention should be included in the scope of the present invention.
Claims (8)
1. A long-term on-duty AUV seabed connection base station is characterized by comprising a sensor end and a fixed end;
the sensor end includes:
the sensor equipment is used for guiding AUV connection and guide;
a first conical watertight coil disposed at a bottom of the sensor end;
a first high frequency electromagnetic wave communication antenna;
the stainless iron block is arranged at the bottom of the sensor end;
the middle of the sensor end is hollowed out to form a through hole penetrating through the top and the bottom;
the fixed end comprises:
a docking port adapted for AUV docking;
the battery pack stores electric energy and supplies power to the sensor end and the docked AUV in a non-contact mode;
the second conical watertight coil is arranged at the top of the fixed end, is matched with the first conical watertight coil and is used for non-contact energy transmission between the sensor end and the fixed end;
the second high-frequency electromagnetic wave communication antenna is matched with the first high-frequency electromagnetic wave communication antenna and is used for non-contact information interaction between the sensor end and the fixed end;
the electromagnet is arranged at the top of the fixed end, is opened and closed through remote control, is matched with the stainless iron block and is used for attracting and locking the sensor end and the fixed end.
2. The long-term on-duty AUV subsea connection base station according to claim 1, wherein the maximum diameter of said second conical watertight coil is more than 1.5 times the maximum diameter of said first conical watertight coil.
3. The long term attended AUV subsea docking station as recited in claim 1, wherein said sensor devices comprise underwater lights, ultra short baseline positioning system transponders, and current meters.
4. The long-term on-duty type AUV seabed docking station of claim 1, wherein the docking port is of a bell mouth structure to facilitate AUV docking.
5. The long-term on-duty type AUV subsea connection base station of claim 1, wherein the on-off of the electromagnet is remotely controlled by communicating with the ultra-short baseline positioning system transponder through acoustic communication equipment.
6. An operation and maintenance system of a long-term on-duty AUV undersea docking base station as claimed in any one of claims 1 to 5, comprising:
the floating ball is provided with a positioning system;
one end of the guide rope is fixed on the fixed end, and the other end of the guide rope is fixed on the floating ball after penetrating through the through hole of the sensor end;
one end of the force bearing rope is fixed on the sensor end, and the other end of the force bearing rope is fixed on the floating ball;
the charging device comprises a third conical watertight coil matched with the second conical watertight coil; the middle of the charging device is hollow, and a through hole penetrating through the top and the bottom is formed.
7. The operation and maintenance system according to claim 6, further comprising a buoyant material mounted on the sensor end for adjusting the wet weight of the sensor end.
8. The method for operating and maintaining the long-term-duty AUV subsea connection base station based on the operation and maintenance system as claimed in claim 6 or 7, is characterized by comprising a cleaning and maintenance process of the sensor end and a charging process of the battery pack;
the cleaning and maintenance process of the sensor end comprises the following steps:
finding the floating ball through a positioning system of the floating ball, remotely controlling to close the electromagnet, pulling the sensor end up to the sea surface through the bearing rope for cleaning and maintenance, and downloading data stored by the sensor end;
after cleaning and maintenance are finished, the bearing rope is in a loose state, the sensor end slides down to the fixed end along the guide rope, and the connection between the sensor end and the fixed end is finished through the fault-tolerant capability of the first conical watertight coil and the second conical watertight coil;
remotely controlling to start the electromagnet to enable the sensor end and the fixed end to be sucked and locked;
the charging process of the battery pack comprises the following steps:
the sensor end is pulled up to the sea surface, the charging device is lowered to the sea bottom along the guide rope and is connected with the fixed end, the charging device obtains electric energy from a surface ship through a submarine cable, and the electric energy is used for charging the battery pack in a non-contact mode through the third conical watertight coil and the second conical watertight coil;
after charging is finished, the charging device is pulled up to the sea surface, the sensor end is placed to the seabed and is connected with the fixed end, and then the sensor end is attracted and locked.
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|---|---|---|---|
| CN202111496025.1A CN113895599B (en) | 2021-12-09 | 2021-12-09 | Long-term on-duty AUV (autonomous underwater vehicle) submarine connection base station and non-contact operation and maintenance system and method thereof |
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| CN202111496025.1A CN113895599B (en) | 2021-12-09 | 2021-12-09 | Long-term on-duty AUV (autonomous underwater vehicle) submarine connection base station and non-contact operation and maintenance system and method thereof |
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