Combined power supply system of residing type remote control underwater robot

Abstract

The invention discloses a combined power supply system of a resident remote control underwater robot, which comprises a first power supply conversion module, a zero-buoyancy umbilical cable, a second power supply conversion module, a power battery and an ROV control module, and is characterized in that the first power supply conversion module is connected with a power supply of an underwater base station and the zero-buoyancy umbilical cable; the second power supply conversion module is connected with the zero-buoyancy umbilical cable, the power battery and the ROV electric load, and the ROV control module is connected with the second power supply conversion module and the power battery; the first power conversion module is used for converting first voltage of the underwater base station into second direct-current voltage, the zero-buoyancy umbilical cable is used for transmitting the second direct-current voltage to the second power conversion module, the second power conversion module is used for converting the second direct-current voltage into third direct-current voltage, and the ROV control module is used for controlling the underwater base station according to predicted power of target operation. And controlling the second power supply conversion module and the power battery to supply power to the ROV electric load. According to the invention, the requirements of high movement flexibility, large operation radius and high operation power of the resident ROV are met.

Description

Technical Field

[0001] The invention belongs to the technical field of underwater robot power supply, and in particular relates to a combined power supply system for a resident remote-controlled underwater robot. Background Art

[0002] A remote-controlled underwater robot (ROV) is a cabled underwater robot that is connected to a mother ship or support platform on the surface via an umbilical cable. The umbilical cable serves as a power supply and communication link, providing all the power sources for the ROV. A resident remote-controlled underwater robot is a new type of remote-controlled underwater robot that is connected to an underwater base station via an umbilical cable. The underwater base station can reside on the seabed or sail underwater for a long time, providing storage, maintenance, and energy supply for the resident ROV. Compared with traditional working-level ROVs, resident ROVs are not affected by bad weather and sea conditions, have unlimited working hours, do not need to surface to dock with a mother ship or a surface support platform, and can adapt to long-term continuous underwater operations, improving operational efficiency and safety, and saving time, manpower, material resources, and financial costs.

[0003] However, there are also many technical problems and challenges for resident ROVs. For example, the traditional umbilical cable transmits AC voltage to the ROV, which requires a large number of wire cores with a large cross-sectional area, resulting in an increase in the volume and weight of the umbilical cable. At the same time, the inductive reactance and capacitive reactance in the umbilical cable have reactive power losses, and there is also a skin effect. The wire cross-section is not fully utilized, and the line loss is large, which reduces the available power transmitted to the ROV. Therefore, due to the constraints of the volume, weight and length of the traditional umbilical cable, the movement flexibility, operating radius and operating power of the resident ROV are limited. In addition, if the umbilical cable breaks, the ROV will lose energy supply and control signals, and the operator will not be able to remotely control it, increasing the difficulty and risk of emergency recovery.

[0004] Therefore, a new power supply system for ROV is needed to meet the requirements of high movement flexibility, large operating radius, high operating power and autonomous emergency recovery of resident ROV. Summary of the invention

[0005] In view of this, the present invention provides a combined power supply system for a resident remote-controlled underwater robot, the main purpose of which is to solve the problem that the existing ROV power supply system cannot meet the requirements of high movement flexibility, large operating radius, high operating power and autonomous emergency recovery of the resident ROV.

[0006] In order to solve the above problems, the present application provides a combined power supply system for a resident remote-controlled underwater robot, including a first power conversion module, a zero-buoyancy umbilical cable, a second power conversion module, a power battery and an ROV control module, wherein:

[0007] The input end of the first power conversion module is electrically connected to the power output end of the underwater base station, the output end of the first power conversion module is electrically connected to one end of the zero buoyancy umbilical cable, the other end of the zero buoyancy umbilical cable is electrically connected to the power input end of the second power conversion module, the first output end of the second power conversion module is electrically connected to the power supply of the power battery, the discharge input end of the second power conversion module is electrically connected to the power supply of the power battery, and the second output end of the second power conversion module is electrically connected to the ROV electrical load; the step-down control output end, the charging control output end, and the discharge control output end of the ROV control module are electrically connected to the step-down control input end, the charging control input end, and the discharge control input end of the second power conversion module in a one-to-one correspondence, and the data input end of the ROV control module is electrically connected to the data end of the power battery;

[0008] The first power conversion module is used to convert a first voltage of the underwater base station with an amplitude less than a first preset value into a second DC voltage with an amplitude greater than a second preset value, the zero buoyancy umbilical cable is used to transmit the second DC voltage to the second power conversion module, the second power conversion module is used to convert the second DC voltage into a third DC voltage with an amplitude less than a third preset value and charge the power battery, and the ROV control module is used to determine the power supply method of the ROV electrical load according to the expected power of the target operation, and control the second power conversion module and the power battery to supply power to the ROV electrical load according to the power supply method.

[0009] In one embodiment of the present invention, optionally, the ROV control module is also used to obtain the expected power of the target operation, calculate the maximum power supply power provided by the underwater base station to the ROV electrical load through the zero-buoyancy umbilical cable, and determine whether the expected power is greater than the maximum power supply power. If the expected power is greater than or equal to the maximum power supply power, it is determined that the power supply mode of the ROV electrical load is a combination of umbilical cable and power battery power supply mode; if the expected power is less than the maximum power supply power, it is determined that the power supply mode of the ROV electrical load is a single umbilical cable power supply mode.

[0010] In one embodiment of the present invention, optionally, in the combined power supply mode of the umbilical cable and the power battery, the ROV control module is also used to read the remaining power of the power battery, determine whether the remaining power is greater than a preset power, and if the remaining power is greater than or equal to the preset power, control the second power conversion module to supply power to the ROV electrical load, and control the power battery to discharge so that the power battery supplies power to the ROV electrical load;

[0011] If the remaining power is less than the preset power, the second power conversion module is controlled to charge the power battery until the remaining power of the power battery is greater than or equal to the preset power, the second power conversion module is controlled to supply power to the ROV electrical load, and the power battery is controlled to discharge so that the power battery supplies power to the ROV electrical load.

[0012] In one embodiment of the present invention, optionally, when the power supply mode of the ROV electrical load is the umbilical cable alone power supply mode, the ROV control module is also used to obtain the real-time power demand of the current operation, and determine whether the maximum power supply meets the real-time power demand; if the maximum power supply does not meet the real-time power demand, the power supply mode of the ROV electrical load is modified to the umbilical cable and power battery combination power supply mode, and the ROV electrical load is powered based on the umbilical cable and power battery combination power supply mode; if the maximum power supply meets the real-time power demand, the second power conversion module is controlled to power the ROV electrical load, and the second power conversion module is controlled to charge the power battery.

[0013] In one embodiment of the present invention, optionally, the zero-buoyancy umbilical cable comprises, from inside to outside, a light unit, a power line, a fiber braided material layer and an outer shell.

[0014] In one embodiment of the present invention, optionally, the first power conversion module includes a rectifier filter circuit, a first surge circuit, a boost conversion circuit, an output filter circuit and a program control unit, wherein:

[0015] The input end of the rectifier and filter circuit is electrically connected to the power output end of the underwater base station, the output end of the rectifier and filter circuit is electrically connected to the input end of the first surge circuit, the output end of the first surge circuit is electrically connected to the power input end of the boost conversion circuit, the control input end of the boost conversion circuit is electrically connected to the output end of the program-controlled unit, the output end of the boost conversion circuit is electrically connected to the input end of the output filter circuit, and the output end of the output filter circuit is electrically connected to one end of the zero-buoyancy umbilical cable; the first input end of the program-controlled unit is electrically connected to the power input end of the boost conversion circuit, and the second input end of the program-controlled unit is electrically connected to the output end of the output filter circuit.

[0016] In one embodiment of the present invention, optionally, the second power conversion module includes a second surge circuit, a second input filter circuit, a step-down conversion circuit, a charging circuit, a discharging circuit and a control unit, wherein:

[0017] The input end of the second surge circuit is electrically connected to the other end of the zero-buoyancy umbilical cable, the output end of the second surge circuit is electrically connected to the input end of the second input filter circuit, the output end of the second input filter circuit is electrically connected to the power input end of the buck converter circuit, the control input end of the buck converter circuit is electrically connected to the buck control output end of the control unit, the first output end of the buck converter circuit is electrically connected to the charging input end of the charging circuit, and the second output end of the buck converter circuit is electrically connected to the ROV electrical load; the control input end of the charging circuit is electrically connected to the charging control end of the control unit, the output end of the charging circuit is electrically connected to the power end of the power battery, the power end of the power battery is electrically connected to the power input end of the discharge circuit, the control end of the discharge circuit is electrically connected to the discharge control end of the control unit, and the output end of the discharge circuit is electrically connected to the second output end of the buck converter circuit; the bus data end of the control unit is electrically connected to the total number data end of the ROV control module through a bus connection.

[0018] In one embodiment of the present invention, optionally, the power battery includes a battery module and a protection module, the positive electrode of the battery module is electrically connected to the positive output terminal of the charging circuit and the positive input terminal of the discharge circuit, the input terminal of the protection module is electrically connected to the negative output terminal of the charging circuit and the negative input terminal of the discharge circuit, the output terminal of the protection module is electrically connected to the negative electrode of the battery module, and the data terminal of the protection module is electrically connected to the ROV control module via a bus connection.

[0019] In one embodiment of the present invention, optionally, the underwater base station is further provided with a base station control module and a winch slip ring, the bus data end of the base station control module is electrically connected to the bus data end of the program control unit through a bus connection, the data output end of the base station control module is electrically connected to one end of the optical fiber, the other end of the optical fiber is electrically connected to the data input end of the winch slip ring, the power input end of the winch slip ring is electrically connected to the output end of the output filter circuit, and the output end of the winch slip ring is electrically connected to one end of the zero buoyancy umbilical cable.

[0020] In one embodiment of the present invention, optionally, an umbilical cable distribution box is provided on the resident remote-controlled underwater robot, the input end of the umbilical cable distribution box is electrically connected to the other end of the zero-buoyancy umbilical cable, the power output end of the umbilical cable distribution box is electrically connected to the input end of the second power conversion module, and the optical fiber output end of the umbilical cable distribution box is electrically connected to the data end of the ROV control module.

[0021] The invention provides a combined power supply system for a resident remote-controlled underwater robot. The zero-buoyancy umbilical cable can transmit high-voltage direct current, so the zero-buoyancy umbilical cable has a smaller outer diameter and a smaller line loss. At the same time, the zero-buoyancy umbilical cable has a lighter weight and a smaller resistance. Therefore, the zero-buoyancy umbilical cable meets the requirements of high flexibility and large operating radius of the resident ROV. The voltage transmitted by the zero-buoyancy umbilical cable is used to charge a power battery as a storage energy source of the ROV. The ROV control module controls the zero-buoyancy umbilical cable as a main energy source, and the power battery is an auxiliary energy source to provide peak power for the high-power operation of the ROV, thereby reducing the dependence of the ROV on the umbilical cable and meeting the high operating power requirement of the ROV. At the same time, when the umbilical cable fails and the power supply is interrupted, the self-contained power battery can provide an emergency backup power supply to the ROV, thereby solving the problem that the resident ROV umbilical cable power supply is interrupted and the base station cannot be returned autonomously and the emergency recovery cannot be carried out, thereby improving the reliability of the ROV power supply.

[0022] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0024] Figure 1 The structure block diagram of a combined power supply system of a resident remote-controlled underwater robot according to an exemplary embodiment of the present invention.

[0025] Figure 2 Another structural block diagram of a combined power supply system for a resident remote-controlled underwater robot according to an exemplary embodiment of the present invention.

[0026] Figure 3 The present invention is a flowchart of a method executed by an ROV control module of a combined power supply system of a resident remote-controlled underwater robot according to an exemplary embodiment of the present invention.

[0027] Figure 4 A structural diagram of a zero-buoyancy umbilical cable of a combined power supply system of a resident remote-controlled underwater robot according to an exemplary embodiment of the present invention.

[0028] Figure 5 This is a structural block diagram of a first power conversion module of a combined power supply system of a resident remote-controlled underwater robot according to an exemplary embodiment of the present invention.

[0029] Figure 6 This is a structural block diagram of a second power conversion module of a combined power supply system of a resident remote-controlled underwater robot according to an exemplary embodiment of the present invention.

[0030] Figure 7 This is a structural block diagram of a power battery of a combined power supply system of a resident remote-controlled underwater robot according to an exemplary embodiment of the present invention.

[0031] in,

[0032] The numbers are as follows: 11-first power conversion module; 21-zero buoyancy umbilical cable; 31-second power conversion module; 32-power battery; 33-ROV control module; 40-power supply of underwater base station; 50-ROV electrical load; 111-rectifier filter circuit; 112-first surge circuit; 113-boost conversion circuit; 114-output filter circuit; 115-programmable control unit; 311-second surge circuit; 312-second input filter circuit; 313-buck conversion circuit; 314-charging circuit; 315-discharging circuit; 316-control unit; 321-battery module; 322-protection module; 13-winch slip ring; 12-base station control module; 34 umbilical cable junction box. DETAILED DESCRIPTION

[0033] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments. It should be noted that the embodiments and features in the embodiments of the present invention can be combined with each other without conflict.

[0034] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the specific implementation methods, structures, features and effects of the present invention application are described in detail below in conjunction with the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "embodiment" does not necessarily refer to the same embodiment. In addition, specific features, structures, or characteristics in one or more embodiments may be combined in any suitable form.

[0035] Combine the following Figures 1 to 7 The combined power supply system of a resident remote-controlled underwater robot according to some embodiments of the present invention is described.

[0036] In one embodiment, Figure 1 As shown, a combined power supply system of a resident remote-controlled underwater robot includes a first power conversion module 11, a zero-buoyancy umbilical cable 21, a second power conversion module 31, a power battery 32 and an ROV control module 33, wherein:

[0037] The input end of the first power conversion module 11 is electrically connected to the output end of the power supply 40 of the underwater base station, the output end of the first power conversion module 11 is electrically connected to one end of the zero buoyancy umbilical cable 21, the other end of the zero buoyancy umbilical cable 21 is electrically connected to the power input end of the second power conversion module 31, the first output end of the second power conversion module 31 is electrically connected to the power supply of the power battery 32, the discharge input end of the second power conversion module is electrically connected to the power supply of the power battery, and the second output end of the second power conversion module 31 is electrically connected to the ROV electrical load 50; the step-down control output end, the charging control output end, and the discharge control output end of the ROV control module 33 are electrically connected to the step-down control input end, the charging control input end, and the discharge control input end of the second power conversion module 31 in a one-to-one correspondence, and the data input end of the ROV control module 33 is electrically connected to the data end of the power battery 32;

[0038] The first power conversion module 11 is used to convert a voltage of the underwater base station with an amplitude less than a first preset value into a second DC voltage with an amplitude greater than a second preset value. The zero buoyancy umbilical cable 21 is used to transmit the second DC voltage to the second power conversion module 31. The second power conversion module 31 is used to convert the second DC voltage into a third DC voltage with an amplitude less than a third preset value and charge the power battery 32. The ROV control module 33 is used to determine the power supply mode of the ROV electrical load according to the expected power of the target operation, and control the second power conversion module 31 and the power battery 32 to supply power to the ROV electrical load according to the power supply mode.

[0039] Specifically, the underwater base station can stay on the seabed or sail underwater for a long time, providing storage, maintenance and energy supply for the ROV. The underwater base station is equipped with a large-capacity power supply and can continuously provide power transmission for the ROV through a thin-diameter zero-buoyancy umbilical cable. Figure 2 As shown, the input end of the first power conversion module is connected to the power supply of the underwater base station, and the output end is connected to the winch slip ring. The first power conversion module also receives control instructions from the ROV base station control system in the underwater base station through bus communication. The low-voltage AC or DC output of the underwater base station power supply is a first voltage. The first power conversion module boosts the low-voltage AC or DC output of the underwater base station power supply to high-voltage DC, and the high-voltage DC is a second DC voltage, and stabilizes the high-voltage DC to generate a high-voltage DC with a stable voltage. The high-voltage DC is delivered to the ROV end through the winch slip ring and the zero-buoyancy umbilical cable.

[0040] The zero-buoyancy umbilical cable is a bridge for power supply and communication between the ROV and the base station. It is an important component of the resident ROV. Its main functions include retracting and launching the ROV, transmitting power, and data communication. The zero-buoyancy umbilical cable has a high-voltage direct current transmitted by the winch slip ring at the input end and a ROV umbilical cable junction box at the output end.

[0041] The umbilical cable has an all-round impact on the ROV, from operational performance to safety costs. For example, the length of the umbilical cable limits the range of ROV activities; the diameter, flexibility and water resistance of the umbilical cable affect the control flexibility of the ROV; in extreme cases, the breakage of the umbilical cable will lead to loss of communication or power, which will increase the difficulty and risk of recovering the ROV. This application adopts a zero-buoyancy cable to reduce the number of umbilical cable conductors and the cross-sectional area, further reduce the outer diameter and weight of the umbilical cable, reduce the water resistance of the umbilical cable, and increase the movement flexibility and operating radius of the ROV.

[0042] like Figure 2 As shown, an umbilical cable junction box is provided in the ROV, and the main function of the umbilical cable junction box is to complete photoelectric separation, and the separated high-voltage direct current is input to the input end of the second power conversion module, and the separated optical fiber is connected to the ROV control module. The second power conversion module steps down the high-voltage direct current to obtain low-voltage direct current, and the low-voltage direct current is the third direct current voltage. The first output end of the second power conversion module is connected to the power supply of the power battery of the ROV, which is used for the charging management of the power battery of the ROV, and the discharge input end of the second power conversion module is connected to the power supply of the power battery of the ROV, which is used for the discharge management of the power battery of the ROV, and the discharge output end and the output end of the third direct current voltage in the second power conversion module are connected to the second output end of the second power conversion module, and the second output end of the second power conversion module is connected to the ROV control module, the normal load power equipment, the propulsion system and other ROV loads, and provides low-voltage direct current power supply for the ROV power load equipment. The second power conversion module receives the control instruction from the ROV control module through bus communication. The second power conversion module converts the high-voltage DC transmitted by the umbilical cable into low-voltage DC through a step-down conversion. At the same time, it has charging and discharging management functions, which can charge the ROV's own power battery at appropriate voltage and current, and discharge it when the ROV is operating at high power.

[0043] The power battery that comes with the ROV has an input end connected to the charging function interface of the second power conversion module, and an output end connected to the discharge function interface of the second power conversion module. It is used to store the energy transmitted by the base station, provide power when the ROV is working, support high-power operation of the ROV, provide instant energy supply for the ROV, and ensure that the ROV can operate normally under various working conditions. The power battery that comes with the ROV has a status monitoring function, which can monitor the battery's charge and discharge status, voltage, current, temperature and other parameters in real time to ensure that the battery works safely and reliably. The power battery that comes with the ROV has multiple safety protection measures, such as overcharge protection, over-discharge protection, over-temperature protection, short-circuit protection, etc., to prevent battery damage and safety accidents.

[0044] During ROV operation, the ROV control module controls the zero-buoyancy umbilical cable as the main energy source to provide output power, and its own power battery as an auxiliary energy source to provide peak power during high-power operation. The dual energy source combination power supply can achieve fast and high-power power output.

[0045] Compared with the prior art, the present application provides a combined power supply system for a resident remote-controlled underwater robot, in which a zero-buoyancy umbilical cable can transmit high-voltage direct current, so the zero-buoyancy umbilical cable has a smaller outer diameter and a smaller line loss, and at the same time, the zero-buoyancy umbilical cable is lighter and has a smaller resistance, so the zero-buoyancy umbilical cable meets the requirements of high flexibility and large operating radius for the resident ROV; the voltage transmitted by the zero-buoyancy umbilical cable is used to charge the power battery, which serves as the storage energy of the ROV. The ROV control module controls the zero-buoyancy umbilical cable as the main energy source, and the power battery is used as the auxiliary energy to provide peak power for the high-power operation of the ROV, thereby reducing the ROV's dependence on the umbilical cable and meeting the high operating power requirements of the ROV. At the same time, when the umbilical cable fails and the power supply is interrupted, the built-in power battery can provide emergency backup power to the ROV, thereby solving the problem of power supply interruption of the umbilical cable of the resident ROV, inability to return to the base station and emergency recovery autonomously, and improving the reliability of the ROV power supply.

[0046] In one embodiment, the ROV control module 33 is also used to:

[0047] Obtain the estimated power for the target operation and calculate the maximum power supplied by the underwater base station to the ROV electrical load through the zero-buoyancy umbilical cable:

[0048] Determine whether the expected power is greater than the maximum power supply power. If the expected power is greater than or equal to the maximum power supply power, determine that the power supply mode of the ROV electrical load is a combined power supply mode of the umbilical cable and the power battery, read the remaining power of the power battery, and determine whether the remaining power is greater than the preset power. If the remaining power is greater than or equal to the preset power, control the second power conversion module to supply power to the ROV electrical load, and control the power battery to discharge so that the power battery supplies power to the ROV electrical load; if the remaining power is less than the preset power, control the second power conversion module to charge the power battery until the remaining power of the power battery is greater than or equal to the preset power, control the second power conversion module to supply power to the ROV electrical load, and control the power battery to discharge so that the power battery supplies power to the ROV electrical load;

[0049] If the expected power is less than the maximum power supply power, the power supply mode of the ROV electrical load is determined to be the umbilical cable alone power supply mode, the real-time power demand of the current operation is obtained, and it is determined whether the maximum power supply power meets the real-time power demand. If the maximum power supply power does not meet the real-time power demand, the power supply mode of the ROV electrical load is modified to the umbilical cable and power battery combination power supply mode. Based on the umbilical cable and power battery combination power supply mode, the ROV electrical load is powered. If the maximum power supply power meets the real-time power demand, the second power conversion module is controlled to power the ROV electrical load, and the second power conversion module is controlled to charge the power battery.

[0050] Specifically, Figure 3 As shown, the energy management control method of the ROV control module of the resident ROV combined power supply system of the present application includes the following steps:

[0051] Step 1: The ROV control module establishes the estimated power required for the operation task according to the power supply demand analysis calculation book of the resident ROV, such as deep-sea operation, deep-sea equipment deployment and recovery, underwater target search in a small range, detailed detection of seabed topography, seabed hydrological parameter measurement, seabed mineral determination, etc. The power consumption database of ROV power load equipment under six typical operation scenarios is calculated to calculate the required power of the ROV power load under specific operation scenarios:

[0052]

[0053] Where j = 1, 2…6, P ij It represents the required power of the i-th ROV electrical load equipment under the j-th operation scenario task.

[0054] Step 2: The ROV control module calculates the maximum power that the base station can provide to the ROV electrical load through the zero-buoyancy umbilical cable:

[0055] P UCmax =η buck (P boostmax -△P UC ) (2)

[0056] Among them, η buck is the DC / DC step-down conversion efficiency of the second power conversion module, P boostmax is the maximum output power of the first power conversion module of the underwater base station, △P UC Zero buoyancy umbilical power loss.

[0057] Since high voltage DC is transmitted in the umbilical cable, the capacitance and inductance effects of the cable are not considered. UC The power loss of the zero buoyancy umbilical is expressed as:

[0058]

[0059] Among them, I Lmax is the maximum transmission current of the umbilical cable, R + =R - is the equivalent DC resistance of the umbilical cable, U boost It is the DC regulated output voltage of the boost power supply.

[0060] Combining formulas (2) and (3) we can obtain P UCmax As described in formula (4):

[0061]

[0062] According to the design parameters of the first power conversion module, the second power conversion module and the zero buoyancy umbilical cable, P boostmax , U boost , η buck , R + The value of can be used to calculate the maximum power P provided by the base station to the ROV through the zero-buoyancy umbilical cable UCmax .

[0063] Step 3: The ROV control module determines whether the estimated power of the ROV under a specific operation scenario exceeds the maximum power supply provided by the zero-buoyancy umbilical cable. If it exceeds the maximum power supply provided by the umbilical cable, the umbilical cable and the ROV's own power battery will be used to meet the ROV's power needs. If it does not exceed the maximum power supply provided by the umbilical cable, the umbilical cable alone will be used to meet the ROV's power needs. At the same time, the charging power is dynamically adjusted to replenish energy for the ROV's own power battery.

[0064] Step 4: If the ROV control module selects the umbilical cable and the ROV's own power battery combination power supply mode, first, read the power battery remaining power SOC, determine whether the remaining power SOC is in a medium-high state ≥ 50%, if it is in a medium-high state, the ROV is operated with the umbilical cable and the power battery combination power supply mode, enable the discharge circuit in the second power conversion module, the DC / DC buck conversion circuit in the second power conversion module enters the automatic constant power mode, and the ROV's own power battery is adaptively adjusted through the discharge circuit. The automatic constant power mode can use the PWM mode to adjust the pulse width (duty cycle) to stabilize the output voltage of the power supply, and can also use the PFM mode (pulse frequency modulation) to adjust the switching frequency to stabilize the output voltage of the power supply. The control module outputs the corresponding PWM control signal or PFM control signal to the DC / DC buck conversion circuit, so that the DC / DC buck conversion circuit enters the automatic constant power mode. The adaptive adjustment power output can be calculated according to the actual power demand of the operation action and the power output of the DC / DC buck conversion circuit to obtain the output power required by the power battery, and the discharge circuit is adjusted according to the output power required by the power battery to achieve the adaptive adjustment power output of the power battery. If the power battery's remaining power SOC is not in a medium-high state, the umbilical cable will be used to charge the ROV's own power battery. The charging circuit will charge the power battery at the maximum output power. When the power battery's remaining power SOC is charged to a medium-high state, the ROV will switch to a combined power supply mode to meet the ROV's high-power operation power requirements.

[0065] Step 5: If the ROV control module selects the umbilical cable power supply mode alone, first, determine whether the maximum power supply provided by the umbilical cable meets the current real-time power demand of the ROV. If the umbilical cable power supply alone cannot meet the real-time power demand of the ROV, enter the umbilical cable and self-contained power battery combined power supply mode, and repeat the process of step 4. If the umbilical cable power supply alone meets the real-time power demand of the ROV, the ROV control module will turn off the discharge circuit and enable the charging circuit. While the umbilical cable supplies power to the ROV power load, it will dynamically adjust the output power of the power battery charging circuit according to the real-time energy demand and working conditions of the ROV power load, and charge the power battery with an appropriate proportion of the ROV power load demand power.

[0066] The present application reasonably distributes the required power of the ROV to two energy sources according to the operating conditions of the resident ROV and the remaining power of its own power battery, determines the control strategy according to the size of the remaining power of the battery and the operating conditions, and dynamically adjusts the charging power of the own power battery, thereby achieving the purpose of meeting the power performance and operation time of the ROV and improving the energy utilization efficiency of the ROV, effectively improving the power performance and operation time of the ROV.

[0067] In one embodiment, Figure 4As shown, the zero-buoyancy umbilical cable 21 includes, from the inside to the outside, a light unit, a power line, a fiber braided material layer and a casing.

[0068] Specifically, in order to reduce the weight of the ROV umbilical cable and improve the strength of the umbilical cable, two measures are taken: Measure 1: The umbilical cable adopts high-voltage direct current transmission. The increase in transmission voltage will reduce the cross-sectional area of ​​the conductor accordingly, and the weight of the umbilical cable will be reduced. When transmitting the same power, the AC transmission line requires three wires, while the DC transmission line only requires two wires. Therefore, the number of wire cores in the DC transmission line is small and the cross-sectional area is small, which further reduces the volume and weight of the umbilical cable. In addition, high-voltage direct current transmission has the advantages of no reactive loss of inductive reactance and capacitive reactance, no skin effect, full utilization of the wire cross-section, and small line loss; Measure 2: The umbilical cable adopts lighter materials as load-bearing components, and uses lighter aramid fiber braided materials to completely replace the traditional heavier steel wire armor layer as a load-bearing component, which can reduce the diameter of the umbilical cable and greatly reduce the weight of the cable itself. This non-metallic armor structure not only maintains the wear-resistant and durable advantages of steel wire armor, but also effectively reduces the weight.

[0069] In addition to the even number of power lines for transmitting power, the zero-buoyancy umbilical cable is also designed with an optical unit. There are several single-mode optical fibers inside the optical unit. The outer layer is wrapped with a stainless steel casing and filled with fiber jelly, which can transmit photoelectric signals in real time. Therefore, the zero-buoyancy umbilical cable is an optoelectronic composite cable. The ROV is connected to the underwater base station through the zero-buoyancy umbilical cable, the ROV is powered by the power cord, and the ROV is transmitted with real-time signals through the optical fiber. The cable is light in weight and small in size, easy to retract and release repeatedly, has a large mission load, and has strong resistance to ocean currents, which can support the ROV to achieve unlimited submarine operations.

[0070] This application adopts a combined power supply system of umbilical cable high-voltage direct current transmission and ROV's own power battery, which not only reduces the number of umbilical cable conductors, reduces the cross-sectional area and weight of the umbilical cable, but also can achieve fast and high-power output under the conditions of reducing the total power supply of the umbilical cable and limited cable transmission energy. It ensures that the umbilical cable is zero buoyancy neutral and the umbilical cable water resistance is extremely low, enhances the ROV's movement flexibility and operating radius, and enables the ROV to have high power, long distance, and strong operating capabilities.

[0071] In one embodiment, Figure 5 As shown, the first power conversion module 11 includes a rectifier filter circuit 111, a first surge circuit 112, a boost converter circuit 113, an output filter circuit 114 and a program control unit 115, wherein:

[0072] The input end of the rectifier and filter circuit 111 is electrically connected to the power output end of the underwater base station, the output end of the rectifier and filter circuit 111 is electrically connected to the input end of the first surge circuit 112, the output end of the first surge circuit 112 is electrically connected to the power input end of the boost converter circuit 113, the control input end of the boost converter circuit 113 is electrically connected to the output end of the program control unit 115, the output end of the boost converter circuit 113 is electrically connected to the input end of the output filter circuit 114, and the output end of the output filter circuit 114 is electrically connected to one end of the zero buoyancy umbilical cable 21; the first input end of the program control unit 115 is electrically connected to the power input end of the boost converter circuit 113, and the second input end of the program control unit 115 is electrically connected to the output end of the output filter circuit 114.

[0073] Specifically, the input end of the first power conversion module is connected to the base station power supply to receive low-voltage AC or DC power from the base station power supply, and the output end is connected to the winch slip ring and the zero-buoyancy umbilical cable to deliver the boosted high-voltage DC power to the ROV. The rectifier and filter circuit uniformly converts the low-voltage AC or DC power input by the base station power supply into low-voltage DC after EMI filtering. The rectifier and filter circuit is composed of a rectifier and an EMI filter. The function of the rectifier is to convert AC power into DC power. The EMI filter can effectively prevent external noise and surge voltage from entering the power supply and effectively prevent the strong electromagnetic harmonic radiation generated by the high-speed conduction and cutoff of the switch tube inside the power supply from interfering with the external power supply. The output end of the rectifier and filter circuit is connected to the first surge circuit. The first surge circuit is composed of a thyristor, an optocoupler, a thermistor and a peripheral circuit. The function of this circuit is to control the on and off of the thyristor through an optocoupler. , using the characteristics of thermistor, effectively reducing the starting impact current, and instantly completing the switching of the surge circuit; the output end of the first surge circuit is connected to the DC / DC boost conversion circuit, the DC / DC boost conversion circuit is composed of a DC / DC boost module and a module peripheral circuit, and its function is to convert the input low-voltage DC voltage into high-voltage DC power. The advantages of this circuit are small size, high power, and full input and output isolation; the output end of the DC / DC boost conversion circuit is connected to the output filter circuit, the output filter circuit is composed of an inductor and a capacitor, and its function is to filter out the AC component and clutter in the output high-voltage DC voltage, so that the output voltage ripple factor is reduced and the waveform becomes smoother.

[0074] The program control unit consists of an auxiliary power supply, a program control mainboard and sampling feedback. The program control unit is connected to the input end of the DC / DC boost conversion circuit to collect the input voltage and current of the boost power supply. The program control unit is connected to the control end of the DC / DC boost conversion circuit to perform switch control and output voltage regulation on the DC / DC boost conversion circuit. The program control unit is connected to the output end of the output filter circuit to collect the output voltage and current of the boost power supply.

[0075] In one embodiment, the programmable control unit is mainly connected to the base station control module in the underwater base station through RS485 or CAN bus communication, receives control instructions from the base station control module to implement programmable power on / off and output voltage adjustment functions, and reads voltage and current values ​​and status display information.

[0076] In one embodiment, the first power conversion module also has protection functions such as input overvoltage protection, input undervoltage protection, input polarity protection, output overvoltage protection, output overcurrent protection, output short circuit protection, power supply overtemperature protection, and power supply overload protection.

[0077] In one embodiment, Figure 6 As shown, the second power conversion module 31 includes a second surge circuit 311, a second input filter circuit 312, a buck conversion circuit 313, a charging circuit 314, a discharging circuit 315 and a control unit 316, wherein:

[0078] The input end of the second surge circuit 311 is electrically connected to the other end of the zero buoyancy umbilical cable 21, the output end of the second surge circuit 311 is electrically connected to the input end of the second input filter circuit 312, the output end of the second input filter circuit 312 is electrically connected to the power input end of the buck converter circuit 313, the control input end of the buck converter circuit 313 is electrically connected to the buck control output end of the control unit 316, the first output end of the buck converter circuit 313 is electrically connected to the charging input end of the charging circuit 314, and the second output end of the buck converter circuit 313 is electrically connected to the ROV power load. Electrical connection; the control input end of the charging circuit 314 is electrically connected to the charging control end of the control unit 316, the output end of the charging circuit 314 is electrically connected to the power supply end of the power battery 32, the power supply end of the power battery 32 is electrically connected to the power input end of the discharge circuit 315, the control end of the discharge circuit 315 is electrically connected to the discharge control end of the control unit 316, and the output end of the discharge circuit 315 is electrically connected to the second output end of the buck conversion circuit 313; the bus data end of the control unit 316 is electrically connected to the total number data end of the ROV control module 33 through a bus connection.

[0079] Specifically, the second power conversion module is connected to the umbilical cable junction box to receive high-voltage direct current from the umbilical cable, and the output end is connected to the ROV's own power battery and the ROV's electrical load, so as to realize the step-down conversion of the high-voltage direct current input and the charging and discharging management functions of the ROV's own power battery.

[0080] The power signal separated from the umbilical cable junction box is connected to the input end of the surge circuit in the second power conversion module. The second surge circuit is composed of a thyristor, an optocoupler, a power resistor and a peripheral circuit. The function of this circuit is to control the on and off of the thyristor through the optocoupler, and to use the power resistor to effectively reduce the starting impact current, and to instantly complete the switching of the surge circuit; the output end of the second surge circuit is connected to the second input filter circuit, which can effectively prevent external clutter and surge voltage from entering the power supply and prevent the strong electromagnetic harmonic radiation inside the power supply from interfering with the external power supply; the output end of the second input filter circuit is connected to the DC / DC step-down converter The DC / DC buck conversion circuit is composed of a DC / DC buck module and peripheral circuits. Its function is to convert the input high-voltage DC voltage into low-voltage DC power. The advantages of this circuit are small size, high power, and full input and output isolation. The first output end of the DC / DC buck conversion circuit is connected to the charging circuit and the discharging circuit. The output end of the charging circuit is connected to the power battery of the ROV. The charging circuit receives the control command of the control unit to realize the charging circuit on / off and battery charging power adjustment. The charging circuit can independently adjust the battery charging process in four stages: trickle charging, constant current charging, constant voltage charging, and charging termination. The input end of the discharge circuit is connected to the power battery of the ROV, and the output end is connected in parallel with the DC / DC buck conversion circuit to provide low-voltage DC power supply for the ROV's electrical load equipment. The discharge circuit receives the command of the control unit to realize the discharge circuit on / off control.

[0081] In one embodiment, the control unit is connected to the control end of the DC / DC buck conversion circuit, the charging circuit, and the discharging circuit to collect the power supply input and output voltage and current, the charging voltage and current, and the discharging voltage and current, and can perform switch control and output power adjustment on the DC / DC buck conversion circuit, the charging circuit, and the discharging circuit. The control unit is mainly connected to the ROV control module through RS485 or CAN bus communication, receives control instructions from the ROV control module to realize program-controlled switching and output voltage and current adjustment functions, and reads voltage and current values ​​and status display information.

[0082] In one embodiment, the second power conversion module also has protection functions such as input overvoltage protection, input undervoltage protection, input reverse voltage protection, output overvoltage protection, output overcurrent protection, output short circuit protection, power supply overtemperature protection, power supply overload protection, battery overcurrent protection, battery overdischarge protection, and battery overcharge protection.

[0083] In one embodiment, Figure 7As shown, the power battery 32 includes a battery module 321 and a protection module 322. The positive electrode of the battery module 321 is electrically connected to the positive output terminal of the charging circuit 314 and the positive input terminal of the discharge circuit 315, respectively. The input terminal of the protection module 322 is electrically connected to the negative output terminal of the charging circuit 314 and the negative input terminal of the discharge circuit 315, respectively. The output terminal of the protection module 322 is electrically connected to the negative electrode of the battery module 321, and the data terminal of the protection module 322 is electrically connected to the ROV control module via a bus connection.

[0084] Specifically, the power battery of ROV includes a battery module and a battery protection module. The battery module is a solid-state lithium battery pack. As a high-power supplementary energy source, the solid-state lithium battery pack adopts a power-type battery with high specific energy, and the discharge rate can reach more than 4C. It has the characteristics of high discharge rate, small internal resistance, and large current output. The solid-state lithium battery uses solid electrolytes to replace traditional liquid electrolytes. It has excellent characteristics such as high energy density, high safety, and deep-water pressure resistance. It can meet the application requirements of ROV for long endurance and high safety, and greatly improve the endurance and safety of ROV. The output of the solid-state lithium battery pack is connected to the battery protection module. The battery protection module provides balance and protection for the charging and discharging of the lithium battery pack, and has functions such as single cell balanced charging, overcharge protection, over-discharge protection, overcurrent protection and short-circuit protection. The battery protection module can be used in deep-water pressure environments and can realize charging and discharging functions in underwater oil-filled wet tanks. The battery protection module is mainly connected to the ROV control module through CAN bus communication, receiving control instructions from the ROV control module and reading battery voltage, current, remaining capacity SOC, and feedback battery status information.

[0085] In one embodiment, Figure 2 As shown, the underwater base station is also provided with a base station control module 12 and a winch slip ring 13. The bus data end of the base station control module 12 is electrically connected to the bus data end of the program control unit 115 through a bus connection mode. The data output end of the base station control module 12 is electrically connected to one end of the optical fiber, and the other end of the optical fiber is electrically connected to the data input end of the winch slip ring 13. The power input end of the winch slip ring 13 is electrically connected to the output end of the output filter circuit 114, and the output end of the winch slip ring 13 is electrically connected to one end of the zero buoyancy umbilical cable 21.

[0086] Specifically, the winch slip ring is a special type of rotary connector that relies on a fixed mount to complete the transmission of electrical energy and signals required for mechanical operation between the rotating part and the fixed part. The fixed part receives the high-voltage DC voltage from the output filter circuit, and the high-voltage DC voltage is transmitted from the fixed part to the rotating part, and from the rotating part to the zero-buoyancy umbilical cable. The data signal from the base station control module is transmitted from the fixed part to the rotating part, or the data from the ROV control module from the rotating part is transmitted to the fixed part, and then transmitted to the base station control module through the fixed part. For the winch slip ring in the underwater base station, it is usually made of waterproof and corrosion-resistant materials to ensure that it will not be damaged by the environment during long-term underwater use.

[0087] In one embodiment, Figure 2 As shown, an umbilical cable junction box 34 is provided on the resident remote-controlled underwater robot, the input end of the umbilical cable junction box 34 is electrically connected to the other end of the zero-buoyancy umbilical cable 21, the power output end of the umbilical cable junction box 34 is electrically connected to the input end of the second power conversion module 31, and the optical fiber output end of the umbilical cable junction box 34 is electrically connected to the data end of the ROV control module 33.

[0088] Specifically, the umbilical cable junction box is an electrical connection device consisting of a metal casing and a plurality of electrical and optical connection terminals. These connection terminals can ensure that different functional lines in the wires or umbilical cables (for example, high-voltage DC power lines, optical fibers) are safely and reliably connected in the box. When the umbilical cable is connected to the umbilical cable junction box from the outside, the various functional lines inside it will be connected to the corresponding equipment or system through the connection terminals in the junction box, thereby realizing functions such as power supply and signal transmission. For example, the high-voltage DC power line is connected to the second input filter circuit through the connection terminals in the junction box, and the optical fiber is connected to the ROV control module through the connection terminals in the junction box, thereby realizing the separation and connection of the high-voltage DC voltage and the optical fiber.

[0089] It should be understood that various modifications may be made to the embodiments of the present application. Therefore, the above description should not be considered as limiting, but only as an example of an embodiment. Other modifications within the scope and spirit of the present application will occur to those skilled in the art.

[0090] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present application and, together with the general description of the present application given above and the detailed description of the embodiments given below, serve to explain the principles of the present application.

[0091] These and other characteristics of the present application will become apparent from the following description of a preferred form of embodiment given as a non-limiting example with reference to the accompanying drawings.

[0092] It should also be understood that although the present application has been described with reference to some specific examples, those skilled in the art will be able to readily implement many other equivalent forms of the present application.

[0093] The above and other aspects, features and advantages of the present application will become more apparent in view of the following detailed description when taken in conjunction with the accompanying drawings.

[0094] Specific embodiments of the present application are described hereinafter with reference to the accompanying drawings; however, it should be understood that the embodiments applied for are merely examples of the present application, which may be implemented in a variety of ways. Well-known and / or repeated functions and structures are not described in detail to avoid unnecessary or redundant details that obscure the present application. Therefore, the specific structural and functional details applied for herein are not intended to be limiting, but merely serve as a basis and representative basis for the claims to teach those skilled in the art to use the present application in a variety of ways with substantially any suitable detailed structure.

[0095] This specification may use the phrases "in one embodiment," "in another embodiment," "in yet another embodiment," or "in other embodiments," all of which may refer to one or more of the same or different embodiments according to the present application.

[0096] The above embodiments are only exemplary embodiments of the present application and are not intended to limit the present application. The protection scope of the present application is defined by the claims. Those skilled in the art may make various modifications or equivalent substitutions to the present application within the essence and protection scope of the present application, and such modifications or equivalent substitutions shall also be deemed to fall within the protection scope of the present application.

Claims

1. A combined power supply system for a resident remote-controlled underwater robot, characterized in that: include: A first power conversion module, a zero buoyancy umbilical cable, a second power conversion module, a power battery and an ROV control module, wherein: The input end of the first power conversion module is electrically connected to the power output end of the underwater base station, the output end of the first power conversion module is electrically connected to one end of the zero buoyancy umbilical cable, the other end of the zero buoyancy umbilical cable is electrically connected to the power input end of the second power conversion module, the first output end of the second power conversion module is electrically connected to the power supply of the power battery, the discharge input end of the second power conversion module is electrically connected to the power supply of the power battery, and the second output end of the second power conversion module is electrically connected to the ROV electrical load; the step-down control output end, the charging control output end, and the discharge control output end of the ROV control module are electrically connected to the step-down control input end, the charging control input end, and the discharge control input end of the second power conversion module in a one-to-one correspondence, and the data input end of the ROV control module is electrically connected to the data end of the power battery; The first power conversion module is used to convert a first voltage of the underwater base station with an amplitude less than a first preset value into a second DC voltage with an amplitude greater than a second preset value, the zero buoyancy umbilical cable is used to transmit the second DC voltage to the second power conversion module, the second power conversion module is used to convert the second DC voltage into a third DC voltage with an amplitude less than a third preset value and charge the power battery, and the ROV control module is used to determine the power supply method of the ROV electrical load according to the expected power of the target operation, and control the second power conversion module and the power battery to supply power to the ROV electrical load according to the power supply method.

2. The combined power supply system of the resident remote-controlled underwater robot according to claim 1, characterized in that: The ROV control module is also used to obtain the expected power of the target operation, calculate the maximum power supply provided by the underwater base station to the ROV electrical load through the zero-buoyancy umbilical cable, and determine whether the expected power is greater than the maximum power supply power. If the expected power is greater than or equal to the maximum power supply power, it is determined that the power supply mode of the ROV electrical load is a combined power supply mode of the umbilical cable and the power battery; if the expected power is less than the maximum power supply power, it is determined that the power supply mode of the ROV electrical load is a power supply mode of the umbilical cable alone.

3. The combined power supply system of the resident remote-controlled underwater robot according to claim 2 is characterized in that: In the combined power supply mode of the umbilical cable and the power battery, the ROV control module is further used to read the remaining power of the power battery, determine whether the remaining power is greater than a preset power, and if the remaining power is greater than or equal to the preset power, control the second power conversion module to supply power to the ROV electrical load, and control the power battery to discharge so that the power battery supplies power to the ROV electrical load; If the remaining power is less than the preset power, the second power conversion module is controlled to charge the power battery until the remaining power of the power battery is greater than or equal to the preset power, the second power conversion module is controlled to supply power to the ROV electrical load, and the power battery is controlled to discharge so that the power battery supplies power to the ROV electrical load.

4. The combined power supply system of the resident remote-controlled underwater robot according to claim 2, characterized in that: When the power supply mode of the ROV electrical load is the umbilical cable alone power supply mode, the ROV control module is also used to obtain the real-time power demand of the current operation, and determine whether the maximum power supply power meets the real-time power demand. If the maximum power supply power does not meet the real-time power demand, the power supply mode of the ROV electrical load is modified to the umbilical cable and power battery combination power supply mode. Based on the umbilical cable and power battery combination power supply mode, the ROV electrical load is powered. If the maximum power supply power meets the real-time power demand, the second power conversion module is controlled to power the ROV electrical load, and the second power conversion module is controlled to charge the power battery.

5. The combined power supply system of the resident remote-controlled underwater robot according to claim 1, characterized in that: The zero-buoyancy umbilical cable comprises, from the inside to the outside, a light unit, a power line, a fiber braided material layer and an outer shell.

6. The combined power supply system of a resident remote-controlled underwater robot according to claim 1, characterized in that: The first power conversion module includes a rectifier filter circuit, a first surge circuit, a boost conversion circuit, an output filter circuit and a program control unit, wherein: The input end of the rectifier and filter circuit is electrically connected to the power output end of the underwater base station, the output end of the rectifier and filter circuit is electrically connected to the input end of the first surge circuit, the output end of the first surge circuit is electrically connected to the power input end of the boost conversion circuit, the control input end of the boost conversion circuit is electrically connected to the output end of the program-controlled unit, the output end of the boost conversion circuit is electrically connected to the input end of the output filter circuit, and the output end of the output filter circuit is electrically connected to one end of the zero-buoyancy umbilical cable; the first input end of the program-controlled unit is electrically connected to the power input end of the boost conversion circuit, and the second input end of the program-controlled unit is electrically connected to the output end of the output filter circuit.

7. The combined power supply system of a resident remote-controlled underwater robot according to claim 1, characterized in that: The second power conversion module includes a second surge circuit, a second input filter circuit, a step-down conversion circuit, a charging circuit, a discharging circuit and a control unit, wherein: The input end of the second surge circuit is electrically connected to the other end of the zero-buoyancy umbilical cable, the output end of the second surge circuit is electrically connected to the input end of the second input filter circuit, the output end of the second input filter circuit is electrically connected to the power input end of the buck converter circuit, the control input end of the buck converter circuit is electrically connected to the buck control output end of the control unit, the first output end of the buck converter circuit is electrically connected to the charging input end of the charging circuit, and the second output end of the buck converter circuit is electrically connected to the ROV electrical load; the control input end of the charging circuit is electrically connected to the charging control end of the control unit, the output end of the charging circuit is electrically connected to the power end of the power battery, the power end of the power battery is electrically connected to the power input end of the discharge circuit, the control end of the discharge circuit is electrically connected to the discharge control end of the control unit, and the output end of the discharge circuit is electrically connected to the second output end of the buck converter circuit; the bus data end of the control unit is electrically connected to the total number data end of the ROV control module through a bus connection.

8. The combined power supply system of the resident remote-controlled underwater robot according to claim 7, characterized in that: The power battery includes a battery module and a protection module, the positive electrode of the battery module is electrically connected to the positive output terminal of the charging circuit and the positive input terminal of the discharge circuit, the input terminal of the protection module is electrically connected to the negative output terminal of the charging circuit and the negative input terminal of the discharge circuit, the output terminal of the protection module is electrically connected to the negative electrode of the battery module, and the data terminal of the protection module is electrically connected to the ROV control module via a bus connection.

9. The combined power supply system of a resident remote-controlled underwater robot according to claim 6, characterized in that: The underwater base station is also provided with a base station control module and a winch slip ring. The bus data end of the base station control module is electrically connected to the bus data end of the program control unit through a bus connection mode. The data output end of the base station control module is electrically connected to one end of the optical fiber, and the other end of the optical fiber is electrically connected to the data input end of the winch slip ring. The power input end of the winch slip ring is electrically connected to the output end of the output filter circuit, and the output end of the winch slip ring is electrically connected to one end of the zero-buoyancy umbilical cable.

10. The combined power supply system of a resident remote-controlled underwater robot according to any one of claims 1 to 8, characterized in that: An umbilical cable distribution box is provided on the resident remote-controlled underwater robot, the input end of the umbilical cable distribution box is electrically connected to the other end of the zero-buoyancy umbilical cable, the power output end of the umbilical cable distribution box is electrically connected to the input end of the second power conversion module, and the optical fiber output end of the umbilical cable distribution box is electrically connected to the data end of the ROV control module.

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