CN212540667U - Simulation test system and seabed test platform thereof - Google Patents
Simulation test system and seabed test platform thereof Download PDFInfo
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- CN212540667U CN212540667U CN202021263307.8U CN202021263307U CN212540667U CN 212540667 U CN212540667 U CN 212540667U CN 202021263307 U CN202021263307 U CN 202021263307U CN 212540667 U CN212540667 U CN 212540667U
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Abstract
The utility model discloses a simulation test system and seabed test platform thereof, seabed test platform carries out the photoelectric separation through the signal of a photoelectric separation device with photoelectric composite cable transmission. And then, the first photoelectric conversion unit is used for performing photoelectric conversion, and is connected with the scientific instrument through the test interface, so that the communication of the scientific instrument is realized. Meanwhile, the first photoelectric separation device transmits current to the measurement and control unit. The measurement and control unit converts the voltage into the voltage suitable for the scientific instrument to simulate the impedance of the submarine cable through the impedance simulation circuit, so that the operating environment of the scientific instrument is closer to the actual condition, and the test result is more accurate. In the simulation test system, the seabed test platform is arranged under water. The operation environment of the scientific instrument is further close to the actual condition, and the submarine test platform can dissipate heat by using water. And further, the simulation test system can continuously test the scientific instrument for a long time.
Description
Technical Field
The utility model relates to a test equipment technical field, in particular to submarine testing platform. The utility model discloses still relate to a simulation test system including above-mentioned submarine test platform.
Background
The submarine observation network is a novel ocean observation method and mainly comprises a shore base station and an underwater system. The shore base station provides electric energy and a communication network for the submarine equipment through a photoelectric composite cable. The submarine observation network can expand a plurality of main connection boxes through the branch units, the main connection boxes firstly carry out photoelectric separation on photoelectric composite cable signals, then electric energy is converted, high voltage is converted into medium voltage, and the secondary connection boxes further carry out electric energy conversion on the medium voltage to obtain power supply voltage required by scientific instruments. The secondary connection box realizes photoelectric conversion on the signal line to obtain a standard network communication interface, and finally, a standard interface for power and communication is provided at the tail end of each secondary connection box. The seabed observation network realizes the connection of different scientific detection instruments or connection box extension nodes through an underwater Robot (ROV). The submarine observation network realizes the long-term stable electric energy supply of the scientific detection instrument, and shore-based workers can monitor the data of the scientific detection instrument in real time through a submarine optical network to know the submarine environment condition and realize the three-dimensional observation of the ocean.
The submarine observation network system is complex in composition and difficult to maintain. In order to ensure the normal operation of the system after the system is laid, scientific instruments and equipment are mostly networked with a submarine observation system in advance on the shore, and the compatibility of the scientific instruments and the submarine observation system is tested by using a shore-based simulation test system.
The shore-based simulation test system consists of a high-power direct-current power supply, a connection box system, a switch and a shore-based power supply test system corresponding to the switch. The existing shore-based simulation test system is equivalent to a submarine observation network system which is arranged on land and is free from submarine cables, and cannot simulate underwater environment, so that the accuracy of test results is influenced.
Therefore, how to improve the accuracy of the test result is a technical problem that needs to be solved urgently by those skilled in the art.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a submarine test platform, its impedance through impedance analog circuit simulation submarine cable makes the operational environment of scientific instrument more be close actual situation to it is more accurate to make the test result. Another object of the present invention is to provide a simulation test system including the above seabed test platform.
In order to achieve the purpose, the photoelectric composite cable testing device comprises a first photoelectric separation device used for being connected with a photoelectric composite cable, wherein a signal circuit of the first photoelectric separation device is connected with a first photoelectric conversion unit, the first photoelectric conversion unit is connected with a test interface of a scientific instrument, a power transmission line of the first photoelectric separation device is connected with a measurement and control unit, the measurement and control unit is connected with the test interface of the scientific instrument, and the measurement and control unit comprises an impedance analog circuit used for simulating the impedance of the submarine cable and a detection circuit used for detecting the running condition of the scientific instrument.
Preferably, the measurement and control unit further comprises a controller connected with the impedance analog circuit to control the impedance of the impedance analog circuit, the front end of the impedance analog circuit is connected with a plurality of voltage conversion modules, the first photoelectric separation device selects one of the plurality of voltage conversion modules through a first multi-way selection switch, and the first multi-way selection switch is connected with the controller.
Preferably, the controller is provided with a connection port for connecting a submarine observation network to obtain the impedance value of the submarine cable.
Preferably, the measurement and control unit further comprises a sampling circuit for collecting the voltage at the rear end of the impedance analog circuit, and the sampling circuit is connected with the controller.
Preferably, an amplifying circuit, an AD conversion circuit and an isolation transmitting circuit for amplifying the sampling signal are further provided between the sampling circuit and the controller.
Preferably, the detection circuit comprises an insulation resistance test circuit, a ground fault test circuit, an inrush current detection circuit and a running steady state detection circuit, a second multi-way selection switch is arranged between the detection circuit and the impedance simulation circuit, and the second multi-way selection switch is connected with the controller.
Preferably, the impedance simulation circuit includes a first operational amplifier and a second operational amplifier, in-phase input ends of the first operational amplifier and the second operational amplifier are both connected to the power transmission line, a fifth variable impedance unit is also connected to the power transmission line, an output end of the first operational amplifier is respectively connected to the second variable impedance unit and the third variable impedance unit, an inverting input end of the first operational amplifier is respectively connected to the first variable impedance unit and the second variable impedance unit, the other end of the first variable impedance unit is grounded, an inverting input end of the second operational amplifier is respectively connected to the third variable impedance unit and the fourth variable impedance unit, and an output end of the second operational amplifier is respectively connected to the fifth variable impedance unit and the fourth variable impedance unit.
The utility model also provides a simulation test system, including the aforesaid arbitrary one seabed test platform, still include bank base station control center, bank base station control center passes through photoelectric composite cable with seabed test platform links to each other.
Preferably, the subsea test platform is disposed underwater.
The utility model provides a submarine test platform, include the first photoelectric separation device that is used for connecting the compound cable of photoelectricity, first photoelectric separation device's signal line links to each other with a photoelectric conversion unit, a photoelectric conversion unit links to each other with the test interface of scientific instrument, a photoelectric separation device's transmission line links to each other with the unit of observing and controling, the unit of observing and controlling links to each other with the test interface of scientific instrument, the unit of observing and controlling includes the impedance analog circuit that is used for simulating submarine cable impedance and the detection circuitry that is used for detecting scientific instrument operation situation.
The submarine test platform carries out photoelectric separation on signals transmitted by the photoelectric composite cable through the first photoelectric separation device. And then, the first photoelectric conversion unit is used for performing photoelectric conversion, and is connected with the scientific instrument through the test interface, so that the communication of the scientific instrument is realized. Meanwhile, the first photoelectric separation device transmits current to the measurement and control unit. The measurement and control unit converts the voltage into the voltage suitable for the scientific instrument to simulate the impedance of the submarine cable through the impedance simulation circuit, so that the operating environment of the scientific instrument is closer to the actual condition, and the test result is more accurate.
The utility model also provides an analog testing system including above-mentioned submarine test platform, submarine test platform sets up under water. The operation environment of the scientific instrument is further close to the actual condition, and the submarine test platform can dissipate heat by using water. And further, the simulation test system can continuously test the scientific instrument for a long time.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic structural diagram of the connection between the seabed test platform and the shore-based control center provided by the present invention;
FIG. 2 is a schematic diagram of the control and test unit of FIG. 1;
fig. 3 is a schematic structural diagram of an impedance simulation circuit.
Wherein the reference numerals in fig. 1 to 3 are:
the device comprises a first photoelectric separation device 1, a measurement and control unit 2, a first photoelectric conversion unit 3, a test interface 4, an upper computer 5, a second photoelectric conversion unit 6, a medium-voltage power supply 7, a second photoelectric separation device 8, a photoelectric composite cable 9, a first multi-way selection switch 211, a medium-voltage conversion 375VDC module 212, a medium-voltage conversion 48VDC module 213, a medium-voltage conversion 24VDC module 214, a medium-voltage conversion 12VDC module 215, an impedance analog circuit 221, a sampling circuit 222, an amplifying circuit 223, a first AD conversion circuit 224, an isolation transmitting circuit 225, a controller 226, a second multi-way selection switch 231, an insulation resistance test circuit 232, a ground fault test circuit 233, an inrush current detection circuit 234, an operation steady-state detection circuit 235, a second AD conversion circuit 236, a current calculation analysis circuit 237 and a signal switching circuit 238.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
In order to make the technical field of the present invention better understand, the present invention will be described in detail with reference to the accompanying drawings and the detailed description.
Referring to fig. 1 to 3, fig. 1 is a schematic structural diagram of a submarine testing platform connected to a shore-based control center according to the present invention; FIG. 2 is a schematic diagram of the control and test unit of FIG. 1; fig. 3 is a schematic structural diagram of an impedance simulation circuit.
The utility model provides a submarine test platform, as shown in fig. 1, including first light-electricity separation device 1, a photoelectric conversion circuit, observing and controlling unit 2 and test interface 4. Wherein, the first photoelectric separation device 1 is connected with the photoelectric composite cable 9 and is connected with a shore-based monitoring center through the photoelectric composite cable 9. The first photoelectric separation device 1 separates the optical signal and the transmission electric energy transmitted by the photoelectric composite cable 9 and transmits the separated optical signal and transmission electric energy to a scientific instrument.
Specifically, a signal line of the first photoelectric separation device 1 is connected with the first photoelectric conversion unit 3 through an optical fiber, and the first photoelectric conversion unit 3 is connected with the test interface 4 of the scientific instrument through a network cable. The optical signal is converted into an electrical signal by the first photoelectric conversion unit 3 and then transmitted to the scientific instrument through the test interface 4, so that the communication between the scientific instrument and the shore-based monitoring center is realized.
The power transmission line of the first photoelectric separation device 1 is connected with the measurement and control unit 2, and the measurement and control unit 2 comprises a voltage conversion module, an impedance analog circuit 221 and a detection circuit. The voltage conversion module can convert the transmission voltage into a voltage suitable for scientific instruments. The impedance simulation circuit 221 is connected with the voltage conversion module, and the impedance simulation circuit 221 enables the working condition of the scientific instrument to be closer to the actual condition by simulating the impedance of the submarine cable. The detection circuit is connected to the impedance simulation circuit 221, and is used to test the working conditions of the scientific instrument under different conditions, and further determine whether the scientific instrument is suitable for the submarine observation network. And finally, the detection circuit is connected with the test interface 4, and power is transmitted to the scientific instrument through the test interface 4.
Alternatively, the impedance simulation circuit 221 has a structure as shown in fig. 3, and includes a first operational amplifier a1 and a second operational amplifier a 2. The non-inverting input terminals of the first operational amplifier a1 and the second operational amplifier a2 and the first terminal of the fifth variable impedance unit Z5 are connected to the voltage conversion module, the output terminal of the first operational amplifier a1 is connected to the first terminal of the second variable impedance unit Z2 and the first terminal of the third variable impedance unit Z3, the inverting input terminal of the first operational amplifier a1 is connected to the first terminal of the first variable impedance unit Z1 and the second terminal of the second variable impedance unit Z2, the second terminal of the first variable impedance unit Z1 is grounded, the inverting input terminal of the second operational amplifier a2 is connected to the second terminal of the third variable impedance unit Z3 and the first terminal of the fourth variable impedance unit Z4, and the output terminal of the second operational amplifier a2 is connected to the second terminal of the fifth variable impedance unit Z5 and the second terminal of the fourth variable impedance unit Z4.
In conjunction with FIG. 3, it can be determined that the output voltage of the first operational amplifier A1 is
The output voltage of the second operational amplifier A2 is
Further, the impedance of the impedance simulation circuit 221 can be derived as
Thus, when the first to fifth variable impedance units Z1 to Z5 select appropriate elements, the impedance simulation circuit 221 may simulate a ground inductance, a capacitance to ground, a negative impedance to ground, and the like.
In the first embodiment of the present application, the first variable impedance unit Z1, the second variable impedance unit Z2, the third variable impedance unit Z3 and the fifth variable impedance unit Z5 are the first resistor R respectively1A second resistor R2A third resistor R3And a fifth resistor R5And the fourth variable impedance unit Z4 is a fourth resistor R4 and a capacitor C4In parallel, the impedance analog circuit 221 may constitute an equivalent analog inductor circuit. Having an equivalent impedance of
The equivalent inductance and the equivalent internal resistance are respectively
Wherein the first resistor R1A third resistor R3And a fifth resistor R5One of the two is a variable resistor, and the size of the equivalent inductor can be adjusted by changing the resistance value of the variable resistor. If the fourth resistance R is increased4And the equivalent analog inductance with low internal resistance can be obtained.
In the second embodiment of the present application, the first variable impedance unit Z1, the second variable impedance unit Z2, the fourth variable impedance unit Z4 and the fifth variable impedance unit Z5 are the first resistor R respectively1A second resistor R2A third resistor R3And a fifth resistor R5The third variable impedance unit Z3 is a capacitor C3. The impedance analog circuit 221 may constitute a capacitance-to-ground analog circuit. Having an equivalent impedance of
An equivalent capacitance of
Wherein the first resistor R1And a fourth resistor R4When one of the resistors is a variable resistor, the size of the capacitor can be linearly adjusted. Of course, in the analog impedance circuit, the first variable impedance unit Z1 to the fifth variable impedance unit Z5 may also adopt other elements to achieve the analog impedance function, such as analog negative impedance to ground, and the like, which is not limited herein.
Optionally, the voltage conversion module includes a medium voltage conversion 375VDC module 212, a medium voltage conversion 48VDC module 213, a medium voltage conversion 24VDC module 214, and a medium voltage conversion 12VDC module 215 arranged in parallel. The first photo-electric separation device 1 is connected to a first multiplexer switch 211. Meanwhile, the measurement and control unit 2 further includes a controller 226, and the controller 226 is connected to the first multiplexer 211. In the working process, the controller 226 outputs a corresponding digital driving signal according to the grade of the supply voltage of the scientific instrument, and the first multi-way selection switch 211 is connected with a conversion module adapted to the supply voltage of the scientific instrument. Of course, the voltage conversion module may further include a medium voltage conversion 110VDC module or a medium voltage conversion 36VDC module, etc., which is not limited herein. The controller 226 may be embodied as an embedded controller.
Optionally, in order to improve the accuracy of the impedance simulation by the impedance simulation circuit 221, the controller 226 is provided with a connection port for connecting to the seafloor observation network, and obtains the impedance value of the submarine cable through the connection port. The controller 226 is further connected to elements such as the variable resistor in the impedance simulation circuit 221, and the controller 226 outputs an analog signal according to the impedance value to adjust the resistance value of the variable resistor, so as to change the resistance value, the capacitance value, and the inductance value of the impedance simulation circuit 221, so that the impedance value is attached to the impedance value of the submarine cable, and further, the scientific instrument networking verification is not affected by the impedance of the submarine cable.
Further, the measurement and control unit 2 further includes a sampling circuit 222. The sampling circuit 222 is connected to the controller 226, and the sampling circuit 222 is used for collecting the voltage of the back end of the impedance simulation circuit 221. Optionally, as shown in fig. 2, an amplifying circuit 223, a first AD conversion circuit 224, and an isolation transmitting circuit 225 are further provided between the sampling circuit 222 and the controller 226. The current is amplified, subjected to AD conversion and isolated transmission, and then transmitted to the controller 226, so that high-precision acquisition of the rear end voltage of the impedance analog circuit 221 is realized. The test of the scientific instrument can be performed under the condition that the rear end voltage of the impedance simulation circuit 221 meets the working voltage of the scientific instrument.
Optionally, the detection circuit includes an insulation resistance test circuit 232, a ground fault test circuit 233, an inrush current detection circuit 234, and an operation steady state detection circuit 235, which are arranged in parallel. As shown in fig. 2, the insulation resistance test circuit 232 and the ground fault test circuit 233 are each connected in series with the second AD conversion circuit 236. The inrush current detection circuit 234 is connected in series with the current calculation analysis circuit 237, and the second AD conversion circuit 236, the current calculation analysis circuit 237, and the operation steady state detection circuit 235 are connected to the signal transfer circuit 238. Signal relay 238 is coupled to controller 226.
The output end of the impedance analog circuit 221 is connected with a second multi-way selection switch 231, the second multi-way selection switch 231 is connected with the controller 226, and the controller 226 sequentially outputs digital driving signals to adjust the multi-way selection switch 2, so that sequential detection of insulation resistance, ground faults and surge current of scientific instruments is realized. Wherein, insulation resistance and earth fault can be compared with insulation resistance threshold and earth resistance threshold respectively, if satisfy the condition can pass the test. Optionally, the threshold of the insulation resistance is 50M Ω, and the threshold of the ground resistance is 4K Ω, which may be determined by a user according to needs, and is not limited herein.
The surge current needs to be judged whether to meet the surge requirement of the starting of the submarine observation network equipment through the current calculation and analysis circuit 237, and the surge current requirement is usually less than 7A/10 ms. After the insulation resistance test, the ground fault test and the surge current detection are passed, the steady state test, namely the long-term operation test can be carried out. And if the continuous and stable operation of the scientific instrument exceeds a preset time limit, the compatibility test of the networking of the submarine observation network can be passed. Of course, the same circuit may be used for the first AD conversion circuit 224 and the second AD conversion circuit 236, a chip with more than 16 bits may be used for the controller 226, and a chip with more than 16 bits of AD conversion accuracy may be used for the AD conversion chip in the AD conversion circuit.
In the embodiment, the seabed test platform is free of complex modules for time synchronization, environment monitoring, light emission and the like, so that the construction difficulty is low. Meanwhile, an impedance analog circuit 221 and a current calculation analysis circuit 237 are added, and meanwhile, the AD detection precision is improved, and the networking test performance is further optimized.
The utility model also provides a simulation test system, including the submarine test platform of above-mentioned arbitrary one kind. As shown in fig. 1, the analog test system further includes a shore-based station control center, and the shore-based analog control center includes an upper computer 5, a second photoelectric conversion unit 6, a medium-voltage power supply 7, and a second photoelectric separation device 8. The second photoelectric conversion unit 6 connects the upper computer 5 with the second photoelectric separation device 8, converts an electric signal output by the upper computer 5 into an optical signal, and transmits the optical signal to the second photoelectric separation device 8. The medium voltage power supply 7 is connected to the mains grid and converts the mains into medium voltage direct current. A medium voltage power supply 7 is also connected to the second photo-separation device 8. The second photoelectric separation device 8 is connected with the first photoelectric separation device 1 of the submarine test platform through a photoelectric composite cable 9 to supply power and communicate with the submarine test platform.
A test interface 4 in the submarine test platform adopts a watertight connector, so that the scientific instrument and the submarine test platform can be connected underwater. The watertight connector can be a wet plug connector or a dry plug connector. The submarine test platform is arranged underwater, and particularly, the submarine test platform can be arranged at an offshore position with the water depth not more than 10 meters and the offshore distance not more than 500 meters. The seabed test platform can ensure long-time operation of the system through water cooling heat dissipation, and further realize steady-state operation test. Of course, the user may also use oil cooling in the subsea test platform as needed, which is not limited herein.
In the embodiment, the submarine test platform is positioned underwater, so that the test environment is closer to the real application environment. Meanwhile, the submarine test platform can effectively avoid the over-temperature of the system through water cooling, so that the scientific instrument has the condition of long-time operation, and further can test the scientific instrument for a long time. In addition, modules such as time synchronization, environment monitoring, light amplification and the like in the connection box system are removed from the seabed test platform, the system structure is simplified, and the production cost is reduced. In addition, the submarine test platform can realize the impedance simulation of submarine cables, and the problems that the submarine cables cannot be compatible with systems and the like when scientific instruments are networked are avoided.
It is noted that, in this specification, relational terms such as first and second, and the like are used solely to distinguish one entity from another entity without necessarily requiring or implying any actual such relationship or order between such entities.
It is right above the utility model provides a simulation test system and seabed test platform thereof have carried out detailed introduction. The principles and embodiments of the present invention have been explained herein using specific examples, and the above descriptions of the embodiments are only used to help understand the method and its core ideas of the present invention. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, the present invention can be further modified and modified, and such modifications and modifications also fall within the protection scope of the appended claims.
Claims (9)
1. The utility model provides a submarine test platform, its characterized in that includes first photoelectric separation device (1) that is used for connecting photoelectric composite cable (9), the signal line of first photoelectric separation device (1) links to each other with first photoelectric conversion unit (3), first photoelectric conversion unit (3) link to each other with test interface (4) that are used for connecting scientific instrument, the transmission line of first photoelectric separation device (1) links to each other with measurement and control unit (2), measurement and control unit (2) with be used for connecting scientific instrument test interface (4) link to each other, measurement and control unit (2) are including impedance analog circuit (221) that are used for simulating submarine cable impedance and the detection circuitry that is used for detecting scientific instrument running state.
2. The subsea test platform according to claim 1, wherein the measurement and control unit (2) further comprises a controller (226) connected to the impedance analog circuit (221) for controlling the impedance of the impedance analog circuit (221), the impedance analog circuit (221) has a plurality of voltage conversion modules connected to a front end thereof, the power transmission line is selectively connected to the voltage conversion modules through a first multiplexing switch (211), and the first multiplexing switch (211) is connected to the controller (226).
3. The subsea test platform of claim 2, wherein the controller (226) is provided with a connection port for connecting a subsea observation network for obtaining impedance values of a sea cable.
4. The subsea test platform according to claim 2, characterized in that the measurement and control unit (2) further comprises a sampling circuit (222) for collecting a voltage at a back end of the impedance simulation circuit (221), the sampling circuit (222) being connected to the controller (226).
5. The subsea test platform according to claim 4, wherein an amplifying circuit (223), a first AD conversion circuit (224), and an isolated transformer circuit (225) are further provided between the sampling circuit (222) and the controller (226).
6. The subsea test platform according to any of claims 2-5, characterized in that the detection circuit comprises an insulation resistance test circuit (232), a ground fault test circuit (233), an inrush current detection circuit (234), and a steady state operation detection circuit (235), and a second multiplexer switch (231) is arranged between the detection circuit and the impedance simulation circuit (221), and the second multiplexer switch (231) is connected to the controller (226).
7. Subsea test platform according to one of the claims 1-5, the impedance simulation circuit (221) comprises a first operational amplifier and a second operational amplifier, the non-inverting input ends of the first operational amplifier and the second operational amplifier are connected with the power transmission line, the fifth variable impedance unit is also connected with the power transmission line, the output end of the first operational amplifier is respectively connected with the second variable impedance unit and the third variable impedance unit, the inverting input end of the first operational amplifier is respectively connected with the first variable impedance unit and the second variable impedance unit, the other end of the first variable impedance unit is grounded, the inverting input end of the second operational amplifier is respectively connected with the third variable impedance unit and the fourth variable impedance unit, the output end of the second operational amplifier is respectively connected with the fifth variable impedance unit and the fourth variable impedance unit.
8. A simulation test system, comprising a subsea test platform according to any of claims 1 to 7, and further comprising a shore-based station control center, said shore-based station control center being connected to said subsea test platform via said opto-electric composite cable (9).
9. The simulation testing system of claim 8, wherein the subsea test platform is disposed underwater.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113484644A (en) * | 2021-07-13 | 2021-10-08 | 中国海洋石油集团有限公司 | Submarine cable simulation device and method suitable for testing long-distance variable-frequency power supply system |
| CN115014234A (en) * | 2022-07-01 | 2022-09-06 | 南京大学 | Underwater photoelectric composite cable buried depth measuring method based on distributed optical fiber sound field sensing |
| CN116991110A (en) * | 2023-09-27 | 2023-11-03 | 深之蓝(天津)水下智能科技有限公司 | Control device and method for controlling on-off of underwater robot and underwater robot |
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2020
- 2020-07-01 CN CN202021263307.8U patent/CN212540667U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113484644A (en) * | 2021-07-13 | 2021-10-08 | 中国海洋石油集团有限公司 | Submarine cable simulation device and method suitable for testing long-distance variable-frequency power supply system |
| CN115014234A (en) * | 2022-07-01 | 2022-09-06 | 南京大学 | Underwater photoelectric composite cable buried depth measuring method based on distributed optical fiber sound field sensing |
| CN116991110A (en) * | 2023-09-27 | 2023-11-03 | 深之蓝(天津)水下智能科技有限公司 | Control device and method for controlling on-off of underwater robot and underwater robot |
| CN116991110B (en) * | 2023-09-27 | 2024-02-13 | 深之蓝(天津)水下智能科技有限公司 | Control device and method for controlling on-off of underwater robot and underwater robot |
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