Redundant power supply system for underwater cleaning ROV

Abstract

The invention discloses an underwater cleaning ROV redundant power supply system, which comprises an overwater working base station, a connecting line and an ROV submersible, one side of the overwater working base station is connected with the ROV submersible through the connecting line, one side of the top of the overwater working base station is connected with a mounting plate, the top of the mounting plate is provided with a photovoltaic panel, the ROV submersible is internally provided with a main power supply unit, and the main power supply unit is connected with the connecting line. A direct-current power supply unit is arranged on one side of the main power supply unit, a storage battery unit is arranged on one side in the ROV submersible, a direct-current transformer unit is arranged on one side of the storage battery unit, a voltage detector unit is arranged in the middle of the ROV submersible, and a first relay set unit is arranged on one side of the top end of the overwater working base station. And a second relay group unit is arranged on the other side of the top end of the overwater working base station. According to the scheme, the problem that the ROV loses communication control when the main power supply unit is lost is solved.

Description

Technical Field

[0001] The invention relates to the field of unmanned remote-controlled submersibles, in particular to a redundant power supply system for an underwater cleaning ROV. Background Art

[0002] Unmanned remotely operated vehicles (ROVs) play an important role in many fields with their significant advantages. Their safety performance ensures that operators can perform underwater operations in a relatively safe environment, reducing the risk of casualties. In terms of economy, compared with traditional manned diving operations, ROVs can reduce labor costs and equipment maintenance costs. Their high efficiency is reflected in the fact that they can perform various tasks quickly and accurately, greatly improving work efficiency. The larger operating depth enables them to enter deep-sea areas that are difficult for humans to reach, expanding the scope of exploration and operations.

[0003] However, the current emergency power supply problem of underwater cleaning ROV cannot be ignored. Relying solely on battery units as a single backup power supply does have many disadvantages. Battery power supply problems caused by long-term storage will make the emergency power supply unable to function at critical moments, bringing great uncertainty to underwater operations. Moreover, once the battery unit is damaged or the main power unit fails, the ROV loses communication control, which may not only interrupt the ongoing mission, but also put the ROV in a dangerous situation and even cause damage to underwater facilities. Summary of the invention

[0004] The object of the present invention is to provide a redundant power supply system for an underwater cleaning ROV to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a redundant power supply system for underwater cleaning ROV, comprising an above-water working base station, a connecting line and an ROV submersible, the system also comprising an energy collection module, an above-water base station control module and a redundant power supply module; the energy collection module comprises a photovoltaic panel and a solar controller, the photovoltaic panel is placed on the top of the above-water working base station, and the solar controller controls the photovoltaic panel to generate electrical energy; the above-water base station control module comprises a first relay group unit, a second relay group unit and a charging unit, the first relay group unit comprises a first relay, a second relay and a third relay, the second relay group unit comprises a fourth relay and a fifth relay, the charging unit charges a battery unit through the control of the first relay unit and the second relay unit; the redundant power supply module is arranged inside the ROV submersible, comprises a main power supply unit, a DC power supply unit, a battery unit, a DC transformer unit and a voltage detector unit, and provides power support for the submersible through the redundant power supply module.

[0006] Preferably, the redundant power supply module is arranged on one side of the main power supply unit, a battery unit is arranged on one side inside the ROV submersible, the DC transformer unit is arranged on one side of the battery unit, and a voltage detector unit is arranged in the middle of the ROV submersible.

[0007] Preferably, the main power supply unit and one side of the water working base station are connected to the ROV submersible through a connecting line, one side of the top of the water working base station is connected to a mounting plate, a photovoltaic panel is installed on the top of the mounting plate, and a solar controller is installed on one side of the top of the water working base station close to the photovoltaic panel.

[0008] Preferably, a first relay group unit is provided on one side of the top of the water working base station, a second relay group unit is provided on the other side of the top of the water working base station, and the charger unit is provided on the back of the water working base station.

[0009] Preferably, a positioning plate is connected to the bottom of the first relay unit, and the bottom of the first relay, the bottom of the second relay and the bottom of the third relay are all connected to the surface of the positioning plate.

[0010] Preferably, the second relay group unit includes a fourth relay, the fifth relay is arranged on one side of the fourth relay, the bottom of the second relay group unit is connected to a fixing plate, and the bottom of the fourth relay and the bottom of the fifth relay are both connected to the surface of the fixing plate.

[0011] Preferably, the solar controller transforms and stabilizes the electric energy generated by the photovoltaic panel and then transmits the electric energy to the battery unit.

[0012] Preferably, the photovoltaic panel and the solar controller are electrically connected to a first relay group unit, the first relay group unit is electrically connected to the battery unit, and the charger unit is electrically connected to a main power supply unit and the first relay group unit.

[0013] Preferably, the DC power supply unit and the DC transformer unit are electrically connected to the second relay group unit respectively, the battery unit is electrically connected to the DC transformer unit, and the voltage detector unit is electrically connected to the battery unit.

[0014] Preferably, the top of the above-water working base station is connected to a substrate, the first relay group unit is installed on one side of the top of the substrate, and the second relay group unit is installed on the other side of the top of the substrate.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] (1) The system uses three power sources: main power, battery and photovoltaic power, forming a redundant power supply structure. When the main power fails, the battery can be put into use immediately to provide power for the ROV submersible. When the battery is low or abnormal, the photovoltaic power supply can be used as an emergency power supply to ensure that the submersible can maintain a certain operating capacity under various circumstances. This redundant design greatly improves the reliability of the system and reduces the risk of the submersible being unable to work due to power failure. Intelligent switching between power sources is achieved through relay group 1 and relay group 2. The system can automatically select the most appropriate power source for power supply according to the status of the main power supply, battery and photovoltaic panel without manual intervention. For example, when the main power is out of power, the system can quickly switch to battery power supply. When the battery has a problem, it can automatically switch to photovoltaic power supply. This intelligent switching control ensures the stable operation of the system under different power supply states and improves the reliability and availability of the system.

[0017] (2) The system uses photovoltaic panels and solar controllers to convert solar energy into electrical energy to provide partial power for the ROV submersible. Solar energy is a clean, renewable energy source. Using photovoltaic power supply can reduce dependence on traditional energy sources, reduce the operating cost of the system, and also meet the requirements of energy conservation and environmental protection. When there is sufficient sunlight, photovoltaic power supply can charge the battery, extend the working time of the submersible, and improve the energy utilization efficiency of the system. The solar controller in the system can achieve maximum power point tracking, ensuring that the photovoltaic panel always operates at the maximum power output state, thereby improving the utilization efficiency of solar energy. At the same time, the charger precisely controls the charging process of the battery to prevent overcharging and over-discharging, thereby extending the service life of the battery. This efficient energy management method enables the system to more effectively utilize various energy sources, reduce energy waste, and achieve the goal of energy conservation and environmental protection.

[0018] (3) The system can work in different underwater environments, whether in deep sea or shallow sea, and can provide reliable power supply for ROV submersibles. The system's redundant power supply design and intelligent switching control enable it to adapt to various complex working environments, such as main power failure, battery power failure, insufficient light, etc. At the same time, the design of the water working base station also enables the system to easily connect and work with other equipment, improving the adaptability and flexibility of the system. The modular design of the system makes it have good scalability. The number of photovoltaic panels can be increased, the capacity of the battery can be expanded, or the power of the main power supply can be upgraded according to actual needs to meet underwater cleaning tasks of different scales. At the same time, the system's interface design also enables it to be easily integrated with other sensors, communication equipment, etc. to achieve more functional expansion. For example, underwater positioning systems, water quality monitoring sensors, etc. can be added to improve the operating capabilities and intelligence level of ROV submersibles. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of the present invention;

[0020] Figure 2 is a structural diagram of a first relay group unit of the present invention;

[0021] Figure 3 is a structural diagram of a second relay group unit of the present invention;

[0022] Figure 4 It is a module diagram of the present invention;

[0023] Figure 5 is a working schematic diagram of the first relay group unit of the present invention;

[0024] Figure 6 is a working schematic diagram of the second relay group unit of the present invention;

[0025] Figure 7 It is a flow chart of the present invention.

[0026] In the figure: 1. Water working base station; 2. Connection line; 3. ROV submersible; 4. Main power supply unit; 5. Battery unit; 6. Mounting plate; 7. Photovoltaic panel; 8. Solar controller; 9. First relay group unit; 10. Second relay group unit; 11. DC power supply unit; 12. DC transformer unit; 13. Charger unit; 14. Voltage detector unit; 15. Base plate; 16. First relay; 17. Second relay; 18. Third relay; 19. Fourth relay; 20. Fifth relay; 21. Positioning plate; 22. Fixing plate. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] See also Figure 1-7 The present invention provides a redundant power supply system for underwater cleaning ROV.

[0029] The system comprises an above-water working base station 1, a connecting line 2 and an ROV submersible 3, and is characterized in that: the system further comprises an energy collection module, an above-water base station control module and a redundant power supply module; the energy collection module comprises a photovoltaic panel 7 and a solar controller 8, the photovoltaic panel 7 is placed on the top of the above-water working base station 1, and the solar controller 8 is controlled according to the electric energy generated by the photovoltaic panel 7; the above-water base station control module comprises a first relay group unit 9, a second relay group unit 10 and a charger unit 13, the first relay group unit 9 comprises a first relay 16, a second relay 17 and a third relay 18, the second relay group unit 10 comprises a fourth relay 19 and a fifth relay 20, the charger unit 13 charges the battery unit 5 through the control of the first relay unit 9 and the second relay unit 10; the redundant power supply module is arranged inside the ROV submersible 3, comprises a main power supply unit 4, a DC power supply unit 12, a battery unit 5, a DC transformer unit 12 and a voltage detector unit 14, and provides power support for the submersible through the redundant power supply module.

[0030] The main power supply unit 4 described in this example is the main power source for the normal operation of the submersible. It provides stable power for various electrical devices to ensure that the submersible can complete tasks such as underwater cleaning. The DC power supply unit 12 is used for specific electronic equipment or systems to provide power with specific voltage and current requirements. The battery unit 5 is used as a redundant power supply and is automatically put into use when the main power supply fails. When the battery unit 5 is low or abnormal, the system can switch to the photovoltaic panel 7 for photovoltaic power supply, which improves the reliability and stability of the system. The DC transformer unit 12 is used to convert the input DC voltage into different voltage levels to meet the needs of different devices inside the submersible and ensure that each device can work normally. The voltage detector unit 14 monitors the voltage conditions inside the submersible in real time, including the voltages of the main power supply unit 4, the battery unit 5 and various electrical devices. When a voltage abnormality is detected, an alarm signal can be issued in time so that the operator can take corresponding measures to ensure the safe and stable operation of the system.

[0031] In this embodiment, the energy generation part is mainly composed of a photovoltaic panel 7, which is installed on a mounting plate 6 on the top of the water working base station 1, and is used to convert solar energy into electrical energy, which is the energy source of the entire photovoltaic circuit. The solar controller 8 is located on the top of the water working base station 1 near the photovoltaic panel 7. It cooperates with the photovoltaic panel 7 to manage and control the electrical energy generated by the photovoltaic panel, including maximum power point tracking, charging control, and prevention of reverse discharge. The first relay group unit 9 is electrically connected to the photovoltaic panel 7 and the solar controller 8. When photovoltaic power supply is required (such as when the main power supply unit is out of power and the battery unit is deficient or abnormal), the corresponding relay of the first relay group unit 9 is closed (such as KA2, KA3), so as to realize the connection between the photovoltaic circuit and the battery unit or the DC transformer unit, and transmit the photovoltaic power to the required part. The main power supply unit 4 contains an internal conversion circuit to convert the alternating current into the electrical energy form required by the internal equipment of the submersible. At the same time, the first relay 16 and the fifth relay 20 belong to the control part. When the main power supply unit 4 has power, KA1 of the first relay 16 is turned on to control the charger unit 13 to charge the battery unit 5, and KA5 of the fifth relay 20 is turned on so that the main power supply unit 4 supplies power to the electrical components of the ROV submersible 3. The charger unit 13 is electrically connected to the main power supply unit 4 and the first relay group unit 9. When the main power supply unit 4 works normally, it charges the battery unit 5 through the control of the first relay group unit 9; the main power supply unit 4 is connected to the DC power supply unit 11 and the DC transformer unit 12 inside the ROV submersible 3 through the second relay group unit 10 (the fourth relay 19 and the fifth relay 20) to realize the power supply to the electrical components of the submersible.

[0032] The battery unit 5 is located at one side of the interior of the ROV submersible 3 and is used to store electrical energy. It serves as one of the redundant power sources and provides power to the submersible when the main power unit 4 is out of power.

[0033] Connection and control part: the battery unit 5 is electrically connected to the DC transformer unit 12. When the main power unit 4 is out of power, the battery unit 5 supplies power to some equipment of the submersible through the DC transformer unit 12; the voltage detector unit 14 is electrically connected to the battery unit 5, and is used to monitor the voltage of the battery unit 5 in real time to ensure its normal operation and provide timely feedback when an abnormality occurs; the first relay group unit 9 (first relay 16) and the second relay group unit 10 (fourth relay 19 and fifth relay 20) also participate in the control of the power supply of the battery unit. When the main power unit 4 is out of power, the battery unit 5 supplies power to the ROV submersible 3 through the switching of the relays.

[0034] The first relay group unit 9 (including the first relay 16, the second relay 17 and the third relay 18) and the second relay group unit 10 (including the fourth relay 19 and the fifth relay 20) are the core components of the switching control circuit. They are connected in different combinations according to different power supply states (whether the main power supply unit is powered, whether the battery unit is normal, etc.) to achieve switching between the photovoltaic circuit, the AC power supply circuit and the battery power supply circuit.

[0035] The voltage condition of the storage battery unit 5 detected by the voltage detector unit 14, the power supply status of the main power supply unit 4, etc. are used as the basis of the control logic. For example, when the main power supply unit 4 has power, the first switch KA1 of the first relay 16 and the fifth switch KA5 of the fifth relay 20 are closed, so that the main power supply unit 4 supplies power to the electrical device and the charger unit 13 charges the storage battery unit 5; when the main power supply unit 4 has no power, the other relay combinations of the first relay group unit 9 and the second relay group unit 10 (such as KA2 or KA3 is closed) are used to realize the power supply of the storage battery unit 5 or the photovoltaic circuit to the ROV submersible 3.

[0036] In this embodiment, one side of the water working base station 1 is connected to the ROV submersible 3 through a connecting line 2, one side of the top of the water working base station 1 is connected to a mounting plate 6, a photovoltaic panel 7 is installed on the top of the mounting plate 6, a solar controller 8 is installed on the side of the top of the water working base station 1 close to the photovoltaic panel 7, a main power supply unit 4 is provided inside the ROV submersible 3, a DC power supply unit 11 is provided on one side of the main power supply unit 4, a battery unit 5 is provided on one side of the ROV submersible 3, a DC transformer unit 12 is provided on one side of the battery unit 5, a voltage detector unit 14 is provided in the middle of the ROV submersible 3, a first relay group unit 9 is provided on one side of the top of the water working base station 1, a second relay group unit 10 is provided on the other side of the top of the water working base station 1, the first relay group unit 9 includes a first relay 16, a second relay 17 provided on one side of the first relay 16 and a third relay 18 provided on one side of the second relay 17, the second relay group unit 10 includes a fourth relay 19 and a fifth relay 20 provided on one side of the fourth relay 19, and a charger unit 13 is provided on the back of the water working base station 1;

[0037] In this embodiment, the ROV submersible 3 is powered during normal use. When the main power supply unit 4 has power, KA1 of the first relay 16 is turned on, and the charger unit 13 directly charges the battery unit 5. At the same time, KA5 of the fifth relay 20 is turned on, and the main power supply unit 4 supplies power to the electrical components of the ROV submersible 3. When the main circuit power is lost, the battery unit is used to supply power. When the battery unit is low on power or abnormal, photovoltaic power is used.

[0038] See also Figure 1-7, the photovoltaic panel 7 and the solar controller 8 are electrically connected to the first relay group unit 9, the first relay group unit 9 is electrically connected to the battery unit 5, the charger unit 13 is electrically connected to the main power supply unit 4 and the first relay group unit 9, the DC power supply unit 11 and the DC transformer unit 12 are electrically connected to the second relay group unit 10, the battery unit 5 is electrically connected to the DC transformer unit 12, and the voltage detector unit 14 is electrically connected to the battery unit 5;

[0039] In this embodiment:

[0040] Charger unit 13: charges the battery unit 5 when the main power supply unit 4 has power;

[0041] Photovoltaic panels 7: convert solar energy into electrical energy;

[0042] Solar controller 8: transforms and stabilizes the electric energy generated by the photovoltaic panel 7 to charge the battery unit 5, or directly outputs the electricity;

[0043] The first relay group unit 9: consists of 3 relays, namely, the first relay 16, the second relay 17 and the third relay 18. When the main power supply unit 4 is powered, KA1 of the first relay 16 is closed, the charger unit 13 charges the battery unit 5, and the DC transformer unit 12 is powered by the battery unit. When the main power supply unit 4 is powered off, KA2 of the second relay 17 is closed, the photovoltaic panel 7 generates light energy, the battery unit 5 is charged by solar energy, and the DC transformer unit 12 is powered directly by solar energy. When the main power supply unit 4 is powered off and the battery unit 5 fails, KA3 of the third relay 18 is closed, and the DC transformer unit 12 is powered directly by solar energy.

[0044] Voltage detector unit 14: used to detect the voltage of the battery unit 5 and determine whether the battery unit 5 is faulty;

[0045] DC transformer unit 12: transforms the voltage into the voltage used by the ROV submersible 3;

[0046] DC power supply unit 11: converts the AC power of the main power supply unit 4 into a DC power supply unit 11 for use by the ROV submersible 3;

[0047] The second relay group unit 10: consists of 2 relays, the fourth relay 19 and the fifth relay 20. When the main power supply unit 4 has power, KA5 of the fifth relay 20 is closed, and the ROV submersible 3 is powered by the DC power supply unit 11. When the main power supply unit 4 has no power, KA4 of the fourth relay 19 is closed, and the ROV submersible 3 is powered by the DC transformer unit 12 circuit.

[0048] See also Figure 1-7, the top of the water working base station 1 is connected with a substrate 15 for facilitating the installation of the first relay group unit 9 and the second relay group unit 10, the first relay group unit 9 is installed on one side of the top of the substrate 15, and the second relay group unit 10 is installed on the other side of the top of the substrate 15, the bottom of the first relay group unit 9 is connected with a positioning plate 21, and the bottom of the first relay 16, the bottom of the second relay 17 and the bottom of the third relay 18 are all connected to the surface of the positioning plate 21, the bottom of the second relay group unit 10 is connected with a fixing plate 22, and the bottom of the fourth relay 19 and the bottom of the fifth relay 20 are all connected to the surface of the fixing plate 22;

[0049] In this embodiment, if the main power supply unit 4 has no power, the voltage detector unit 14 is used to detect whether the voltage of the battery unit 5 is too low. If the voltage of the battery unit 5 is too low, KA3 of the third relay 18 is connected, the battery unit 5 fails, KA3 of the third relay 18 is closed, and the DC transformer unit 12 is directly powered by solar energy, and the solar energy directly powers the ROV submersible 3. If the voltage of the battery unit 5 is not too low, KA2 of the second relay 17 is closed, the photovoltaic panel 7 generates light energy, and the battery unit 5 is charged by solar energy.

[0050] In specific use, the present invention provides a redundant power supply system for underwater cleaning ROV, which supplies power to ROV submersible 3 during normal use. When the main power supply unit 4 has power, KA1 of the first relay 16 is turned on, and the charger unit 13 directly charges the battery unit 5. At the same time, KA5 of the fifth relay 20 is turned on, and the main power supply unit 4 supplies power to the electrical components of the ROV submersible 3. If the main power supply unit 4 has no power, the voltage detector unit 14 is used to detect whether the voltage of the battery unit 5 is too low. If the voltage of the battery unit 5 is too low, KA3 of the third relay 18 is turned on, the battery unit 5 fails, KA3 of the third relay 18 is closed, and the DC transformer unit 12 is directly powered by solar energy. The solar energy directly supplies power to the ROV submersible 3. If If the voltage of the battery unit 5 is not too low, KA2 of the second relay 17 is closed, the photovoltaic panel 7 generates light energy, the battery unit 5 is charged by solar energy, the DC transformer unit 12 is directly powered by solar energy, and the charged battery unit 5 is used to power the ROV submersible 3. At the same time, KA3 of the third relay 18 is closed, the DC transformer unit 12 is directly powered by solar energy, and the solar energy directly powers the ROV submersible 3. The entire power supply system is based on photovoltaic circuits, AC power supply circuits, battery power supply circuits and switching control circuit technical solutions to solve the problem of ROV losing communication and control when the main power supply unit is lost. As a redundant power supply circuit, it is powered by the battery unit 5 when the main circuit power is lost, and it is powered by photovoltaic power when the battery unit 5 is low on power or abnormal.

[0051] In this embodiment, the solar controller works in conjunction with the photovoltaic panel, and a key function of the solar controller is to achieve maximum power point tracking. The output power of the photovoltaic panel will change with changes in factors such as light intensity, temperature and load. MPPT technology can monitor the output characteristics of the photovoltaic panel in real time, and by adjusting the working point of the circuit, the photovoltaic panel always works in the maximum power output state. For example, under different sunshine intensities, the output voltage and current of the photovoltaic panel will change accordingly, and the solar controller will automatically adjust to find the best voltage-current combination to obtain the maximum power output, so that the photovoltaic panel can exert its maximum power generation potential. The charging process of the battery unit is precisely controlled. When the photovoltaic panel generates electricity, the solar controller adjusts the charging current and voltage according to the state of the battery unit (such as power, voltage, etc.). When the battery unit is low in power, it will be quickly charged with a large current; as the battery unit increases in power, the charging current is gradually reduced to avoid overcharging. When the battery unit voltage is close to the full voltage, the solar controller will switch to the trickle charging mode and continue to charge with a small current to ensure that the battery unit is fully charged and will not be damaged due to overcharging. At night or when there is insufficient light, photovoltaic panels do not generate electricity, and may even generate reverse current due to their own characteristics. Solar controllers can effectively prevent this reverse current and prevent the electric energy of the battery unit from being discharged in reverse through the photovoltaic panels, thereby protecting the power of the battery unit. This is like a one-way valve that only allows electricity to flow from the photovoltaic panel to the battery unit, but not in the reverse direction. There is usually a core control chip inside the solar controller, which is responsible for executing various control algorithms, such as MPPT algorithm, charging control algorithm, etc. This chip will calculate and make decisions based on the received sensor signals (such as photovoltaic panel voltage, current, battery unit voltage, etc.). For example, some high-performance solar controllers use advanced digital signal processors (DSP) as control chips, which can quickly and accurately process large amounts of data to achieve efficient power management.

[0052] The system uses three power sources: main power, battery and photovoltaic power, forming a redundant power supply structure. When the main power fails, the battery can be put into use immediately to provide power for the ROV submersible. When the battery is low or abnormal, the photovoltaic power supply can be used as an emergency power supply to ensure that the submersible can maintain a certain operating capacity under various circumstances. This redundant design greatly improves the reliability of the system and reduces the risk of the submersible failing to work due to power failure. Intelligent switching between power sources is achieved through relay group 1 and relay group 2. The system can automatically select the most suitable power supply for power supply according to the status of the main power supply, battery and photovoltaic panel without manual intervention. For example, when the main power is out of power, the system can quickly switch to battery power supply, and when there is a problem with the battery, it can automatically switch to photovoltaic power supply. This intelligent switching control ensures the stable operation of the system under different power supply states and improves the reliability and availability of the system.

[0053] The system uses photovoltaic panels and solar controllers to convert solar energy into electrical energy to provide part of the power for the ROV submersible. Solar energy is a clean and renewable energy source. Using photovoltaic power supply can reduce dependence on traditional energy sources, reduce the operating cost of the system, and also meet the requirements of energy conservation and environmental protection. When there is sufficient sunlight, photovoltaic power supply can charge the battery, extend the working time of the submersible, and improve the energy efficiency of the system. The solar controller in the system can achieve maximum power point tracking, ensure that the photovoltaic panel always works at the maximum power output state, and improve the utilization efficiency of solar energy. At the same time, the charger accurately controls the charging process of the battery to prevent overcharging and over-discharging, and extend the service life of the battery. This efficient energy management method enables the system to more effectively utilize various energy sources, reduce energy waste, and achieve the goal of energy conservation and environmental protection.

[0054] The system can work in different underwater environments, whether in deep sea or shallow sea, and can provide reliable power supply for ROV submersibles. The redundant power supply design and intelligent switching control of the system enable it to adapt to various complex working environments, such as main power failure, battery power loss, insufficient light, etc. At the same time, the design of the water working base station also enables the system to be easily connected and coordinated with other equipment, improving the adaptability and flexibility of the system. The modular design of the system makes it have good scalability. The number of photovoltaic panels can be increased, the capacity of the battery can be expanded, or the power of the main power supply can be upgraded according to actual needs to meet underwater cleaning tasks of different scales. At the same time, the interface design of the system also enables it to be easily integrated with other sensors, communication equipment, etc. to achieve more functional expansion. For example, underwater positioning systems, water quality monitoring sensors, etc. can be added to improve the operating capacity and intelligence level of ROV submersibles.

[0055] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A redundant power supply system for underwater cleaning ROV, comprising an above-water working base station, a connecting line and an ROV submersible, characterized in that: The system also includes an energy collection module, a water base station control module and a redundant power supply module; The energy collection module includes a photovoltaic panel and a solar controller, wherein the photovoltaic panel is placed on the top of the water working base station, and the solar controller controls the photovoltaic panel to generate electrical energy; The water base station control module includes a first relay group unit, a second relay group unit and a charging unit, the first relay group unit includes a first relay, a second relay and a third relay, the second relay group unit includes a fourth relay and a fifth relay, and the charging unit charges the battery unit through the control of the first relay unit and the second relay unit; The redundant power supply module is arranged inside the ROV submersible, and includes a main power supply unit, a DC power supply unit, a battery unit, a DC transformer unit and a voltage detector unit, and provides power support for the submersible through the power supply module.

2. A redundant power supply system for underwater cleaning ROV as claimed in claim 1, characterized in that: The redundant power supply module is arranged on one side of the main power supply unit, a battery unit is arranged on one side inside the ROV submersible, the DC transformer unit is arranged on one side of the battery unit, and a voltage detector unit is arranged in the middle of the ROV submersible.

3. A redundant power supply system for underwater cleaning ROV as claimed in claim 1, characterized in that: The main power supply unit and one side of the above-water working base station are connected to the ROV submersible through a connecting line, one side of the top of the above-water working base station is connected to a mounting plate, a photovoltaic panel is installed on the top of the mounting plate, and a solar controller is installed on one side of the top of the above-water working base station close to the photovoltaic panel.

4. A redundant power supply system for underwater cleaning ROV as claimed in claim 1, characterized in that: A first relay group unit is arranged on one side of the top of the water working base station, a second relay group unit is arranged on the other side of the top of the water working base station, and the charger unit is arranged on the back of the water working base station.

5. The redundant power supply system for underwater cleaning ROV according to claim 1, characterized in that: The bottom of the first relay unit is connected to a positioning plate, and the bottom of the first relay, the bottom of the second relay and the bottom of the third relay are all connected to the surface of the positioning plate.

6. The redundant power supply system for underwater cleaning ROV according to claim 1, characterized in that: The second relay group unit includes a fourth relay, the fifth relay is arranged on one side of the fourth relay, the bottom of the second relay group unit is connected to a fixing plate, and the bottom of the fourth relay and the bottom of the fifth relay are both connected to the surface of the fixing plate.

7. The redundant power supply system for underwater cleaning ROV according to claim 2, characterized in that: The solar controller transforms and stabilizes the electric energy generated by the photovoltaic panel and transmits the electric energy to the battery unit.

8. The redundant power supply system for underwater cleaning ROV according to claim 1, characterized in that: The photovoltaic panel and the solar controller are electrically connected to a first relay group unit, the first relay group unit is electrically connected to the battery unit, and the charger unit is electrically connected to a main power supply unit and the first relay group unit.

9. The redundant power supply system for underwater cleaning ROV according to claim 1, characterized in that: The DC power supply unit and the DC transformer unit are electrically connected to the second relay group unit respectively, the battery unit is electrically connected to the DC transformer unit, and the voltage detector unit is electrically connected to the battery unit.

10. The redundant power supply system for underwater cleaning ROV according to claim 1, characterized in that: The top of the above-water working base station is connected to a substrate, the first relay group unit is installed on one side of the top of the substrate, and the second relay group unit is installed on the other side of the top of the substrate.

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