Underwater simultaneous energy and information transmission system based on power line carrier

Abstract

The invention relates to the technical field of underwater unmanned vehicle equipment, in particular to an underwater energy and information simultaneous transmission system and an underwater energy and information simultaneous transmission method based on power line carriers. Information is modulated into high-frequency signals, the high-frequency signals are coupled to an energy loop of an existing watertight electric connector structure, the noise interference problem of power line carrier signals and energy transmission can be effectively solved, and then direct-current high-power and high-speed energy-signal coupling transmission between a mother boat platform and an unmanned aircraft is achieved; meanwhile, the safety problem of a high-power charging platform in the underwater environment can be solved, deviation correction plugging of the watertight electric connector between the mother boat platform and the unmanned aircraft is achieved, the plugging difficulty of an existing watertight electric connector is effectively reduced, the success rate of underwater energy supply and information interaction is increased, the unmanned aircraft can go out for multiple times to execute tasks, and the safety of the unmanned aircraft is improved. And the operation radius and the operation time of the unmanned underwater vehicle are greatly improved.

Description

Technical Field

[0001] This invention relates to the field of underwater unmanned vehicle equipment technology, specifically to an underwater energy and communication simultaneous transmission system and method based on power line carrier. Background Technology

[0002] Currently, underwater unmanned vehicles are in a stage of rapid development. However, due to their size and energy storage limitations, underwater unmanned vehicles have very limited underwater standby time and activity range. Therefore, exploring how to achieve energy replenishment and information exchange for unmanned vehicles underwater is of great significance.

[0003] Traditional underwater unmanned vehicles typically return to shore-based facilities after completing a mission. Clearly, shore-based charging is no longer sufficient to meet the needs of collaborative operation systems for new underwater unmanned vehicles.

[0004] The existing contact-type wired charging technology is currently the most powerful, efficient, and reliable way to achieve energy transmission underwater. In a collaborative operation system, after the unmanned vehicle completes a forward operation and returns to the mothership platform, the plug and socket of the watertight electrical connector are connected to establish an electrical connection between the mothership platform and the unmanned vehicle to achieve high-power energy replenishment.

[0005] However, the main challenges faced by existing technologies are as follows: 1) There are errors in the recovery of the mothership platform and the unmanned vehicle, and the insertion and removal of the underwater watertight electrical connectors need to be achieved by correcting the attitude deviation; 2) There are few physical channels between the mothership platform and the unmanned vehicle, and the transmission power is high, so energy and information need to be coupled and transmitted through the same channel; 3) There are challenges in the safety and reliability of carrying out high-power charging in the underwater environment. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to provide an underwater energy and information transmission system and method based on power line carrier, which has the advantages of high power transmission efficiency, high reliability and high information transmission rate. It can realize high-efficiency energy and information transmission between the mother ship platform and the unmanned vehicle, and can realize the correction of insertion and removal of the watertight electrical connector between the mother ship platform and the unmanned vehicle, thereby improving the success rate of underwater energy replenishment and information interaction.

[0007] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: I. An Underwater Power Communication Simultaneous Interpretation System Based on Power Line Carrier This invention provides an underwater power and communication transmission system based on power line carrier, which mainly includes: a charging device installed on the mothership platform and a charging module installed on the unmanned vehicle. The charging device has an input end connected to the mothership's power supply system and an output end connected to a watertight electrical connector plug. The watertight electrical connector plug is mounted on the mothership's plugging and unplugging mechanism. The plugging and unplugging mechanism is used to adjust the relative position of the plug in the x and y directions and can drive the plug to extend and retract in the z direction. The charging device is connected to the mothership's power line carrier module through a signal filtering module. The mothership's power line carrier module is electrically connected to the mothership's control console. The output end of the charging module is connected to the lithium battery pack on the aircraft side. The input end of the charging module is provided with a watertight electrical connector socket that is compatible with the watertight electrical connector plug. The watertight electrical connector socket is installed on the aircraft side mounting base. The charging module is connected to the aircraft side power line carrier module. The aircraft side power line carrier module is electrically connected to the aircraft's central control system.

[0008] Furthermore, both the mothership-side power line carrier module and the vehicle-side power line carrier module include a signal transmission unit and a signal modulation and demodulation unit; The energy transmission unit is used to convert the information data sent by the mothership console / vehicle central control system into high-frequency carrier signals and couple them to the energy transmission circuit through the corresponding charging device / charging module. At the same time, it is used to convert the received high-frequency carrier signals into information data for the corresponding mothership console / vehicle central control system to read. The signal modulation and demodulation unit is used to convert between conventional communication protocols and the protocols of the simultaneous transmission equipment.

[0009] Furthermore, a signal filtering module is provided between the mothership-side power line carrier module and the charging device, and the upper and lower limit frequencies of the filtering module are calculated and determined based on the center frequency f0 and bandwidth BW of the high-frequency signal transmitted by the mothership-side power line carrier module, as follows: The lower limit frequency f of the signal filtering module L for: - ; The upper frequency f of the signal filtering module H for: + .

[0010] Furthermore, the charging device is located inside the mothership platform compartment and is connected to the watertight electrical connector plug via a double-ended watertight cable. The watertight electrical connector plug is installed on a plugging and unplugging mechanism outside the mothership platform compartment. The charging module is located inside the unmanned vehicle compartment and is connected to the watertight electrical connector socket via a double-ended watertight cable. The watertight electrical connector socket is installed on a mounting base outside the unmanned vehicle compartment.

[0011] Furthermore, a spring support structure I is uniformly arranged circumferentially between the plug of the watertight electrical connector and the mounting flange of the insertion and removal mechanism, and a spring support structure II is uniformly arranged circumferentially between the socket of the watertight electrical connector and the mounting flange of the mounting base. The spring support structure I and the spring support structure II are used to compensate for the spatial error before the plug and socket are inserted.

[0012] Furthermore, the insertion and removal mechanism includes: a mechanism frame, an insertion and removal actuator, a vision sensing device, and a drive controller; The mechanism frame is fixedly connected to the outside of the mothership platform compartment. The plug-in actuator includes electric cylinders in the x, y, and z directions and corresponding slide rail assemblies, which are used to adjust the relative position of the watertight electrical connector plug in the x and y directions and drive the watertight electrical connector plug to extend and retract in the z direction, so as to realize the plug-in action of the socket.

[0013] Furthermore, the visual perception device is specifically a visual recognition camera, which is installed on the plug of the watertight electrical connector. It is used to determine the relative distance between the plug and the socket in the x, y, and z directions in real time, and transmit the real-time determination information to the drive controller to control the plug-in actuator to perform the corresponding displacement adjustment action.

[0014] Furthermore, a bipolar contactor KM1 is provided between the charging device and the watertight electrical connector plug, and a bipolar contactor KM2 is provided between the charging module and the watertight electrical connector socket. The output end of the charging device is equipped with an offline insulation monitoring module and an online insulation monitoring module to perform insulation monitoring and control.

[0015] Furthermore, the insulation monitoring and control specifically includes: Step 1: In non-charging conditions, the double-pole contactor KM1 is disconnected. At the same time, the offline insulation monitoring module is used to measure whether the insulation resistance Z1 of the charging device output circuit is greater than the preset resistance value. If it is, the subsequent steps are executed. If not, an alarm is issued. Step 2: Before connecting the plug and socket of the watertight electrical connector, close the double-pole contactor KM1. At the same time, use the offline insulation monitoring module to measure whether the overall insulation resistance Z2 of the charging device output circuit and the external double-headed watertight cable section is greater than the preset resistance value 2. If yes, continue to the next step; otherwise, issue alarm 2. Step 3: After the watertight electrical connector plug and socket are connected, before starting the signal transmission, close the double-pole contactor KM2 and use the offline insulation monitoring device to measure whether the overall insulation resistance Z3 of the mother ship end charging device output circuit, the external double-headed watertight cable section and the aircraft end charging module is greater than the preset resistance value 3. If yes, continue to perform the subsequent steps; if no, issue alarm 3. Step 4: Achieve communication handshake between the mothership and the aircraft through the power line carrier modules at both ends, ensure stable connection of the power channel, and simultaneously enable simultaneous power and signal transmission; Step 5: During the simultaneous transmission of information and energy, use the online insulation monitoring module to measure in real time whether the insulation resistance Z4 of the overall circuit between the mother ship and the aircraft is always greater than the preset resistance value of four, in order to monitor the insulation performance of the overall circuit during the simultaneous transmission of information and energy.

[0016] II. An Underwater Power Communication Method Based on Power Line Carrier Based on the same inventive concept, this invention also provides an underwater energy and communication transmission method based on power line carrier, employing the underwater energy and communication transmission system described above, including the following steps: S1. After the mothership control console issues the command to start the simultaneous communication mission, the mothership's charging device and plug-in mechanism perform a self-test. If the self-test is successful, the subsequent steps will continue. S2, the relative distance between the plug and socket of the watertight electrical connector in the x, y, and z directions is determined in real time by the visual perception device, and the real-time judgment information is transmitted to the drive controller to control the insertion and removal actuator to perform the corresponding displacement adjustment action so that the plug and socket of the watertight electrical connector can be smoothly inserted. S3, after successful insertion, the insertion and removal mechanism sends an insertion completion signal to the mothership control console via power line carrier communication; S4. After receiving the insertion signal, the mothership control console sends a communication request to the vehicle's central control system via power line carrier communication. After the vehicle's central control system responds to the communication request, it activates simultaneous power and signal transmission. S5, when it is determined that the lithium battery pack at the end of the aircraft is fully charged or the mother ship control console actively stops charging, the charging device stops, and at the same time the plugging and unplugging mechanism drives the plug and socket of the watertight electrical connector to separate, and the communication ends.

[0017] Compared with the prior art, the present invention has the following main advantages: This invention provides an underwater power and communication transmission system and method based on power line carrier. By modulating information into a high-frequency signal and coupling it to an energy circuit constructed with an existing watertight electrical connector, it effectively solves the noise interference problem between power line carrier signals and energy transmission, thereby achieving high-power, high-speed DC power and communication transmission between the mothership platform and the unmanned aerial vehicle (UAV). Simultaneously, this invention addresses the platform safety issues associated with high-power charging in underwater environments, enables corrective insertion and removal of the watertight electrical connector between the mothership platform and the UAV, effectively reduces the difficulty of inserting and removing existing watertight electrical connectors, improves the success rate of underwater energy replenishment and information exchange, facilitates multiple forward deployments of the UAV for mission execution, and significantly increases the operating radius and operating time of the underwater UAV. Attached Figure Description

[0018] Figure 1 This is an overall schematic diagram of the underwater energy and communication simultaneous transmission system in an embodiment of the present invention; Figure 2 This is a topology diagram of the main circuit of the charging device in an embodiment of the present invention; Figure 3 This is a schematic diagram of power line carrier transmission in an embodiment of the present invention; Figure 4 This is a diagram of a power line carrier-based simultaneous transmission line in an embodiment of the present invention; Figure 5 This is a schematic diagram of a single underwater power channel in an embodiment of the present invention; Figure 6 This is a schematic diagram of the insulation monitoring and control principle in an embodiment of the present invention; Figure 7 This is a flowchart of the underwater energy and communication simultaneous transmission method in an embodiment of the present invention. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0020] It should be noted that, depending on the implementation needs, the various steps / components described in this application can be broken down into more steps / components, or two or more steps / components or parts of the operation of steps / components can be combined into new steps / components to achieve the purpose of this invention.

[0021] In this invention, unless otherwise expressly specified and limited, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise expressly and specifically limited.

[0022] Example 1: This example provides an underwater power and communication simultaneous transmission system based on power line carrier, such as... Figure 1 As shown, it mainly includes: a high-power charging device for the mothership, a power line carrier module for the mothership, a signal filtering module for the mothership, a plug-in mechanism (installed on the mothership), a watertight electrical connector plug and socket (installed on the mothership and the vehicle end respectively), a charging module for the vehicle end, and a power line carrier module for the vehicle end. The energy transmission loop in this system is: mothership power supply system -- high-power charging device -- watertight electrical connector plug and socket -- vehicle-side charging module and lithium battery pack, which can realize energy replenishment from the mothership to the unmanned vehicle; The information transmission loop is as follows: the mothership control console and the mothership-side power line carrier module exchange information. After the mothership-side power line carrier module modulates and demodulates the signal, it is coupled to the energy transmission loop through the output terminals of the signal filtering module and the charging device, and then the signal is transmitted to the unmanned vehicle. After the signal is modulated and demodulated, the unmanned vehicle-side power line carrier module exchanges information with the vehicle's central control system, realizing full-duplex communication between the mothership and the unmanned vehicle.

[0023] The high-power charging device employs a dual active bridge converter topology, enabling physical isolation between the input and output ends to enhance the electrical safety of the mothership platform and unmanned underwater vehicle during underwater energy transmission. Simultaneously, an online and offline insulation monitoring module is configured at the output end of the charging device to ensure good insulation performance of electrical components such as watertight electrical connectors in the underwater environment under both charging and non-charging conditions. The plug and socket ends of the watertight electrical connectors are equipped with bipolar contactors to ensure physical isolation between the external watertight electrical connectors and watertight cables and the internal electrical grid of the mothership under non-charging conditions.

[0024] like Figure 2 As shown, after the input power supply is processed by the input EMI module, a resistor is connected in series to limit the current in order to slow down the power-up speed, reduce the inrush current, and mitigate the impact of electromagnetic interference or electromagnetic compatibility issues caused by excessive instantaneous current. After the capacitor voltage gradually rises, the current-limiting resistor is short-circuited to ensure normal operation of the equipment. The main topology uses a three-phase DAB, which includes a high-frequency transformer, switching transistors, and supporting capacitors. In this example, the input voltage U... i =350-640VDC, output is U out =300-600VDC (maximum power 90kW), output current 50A~300A, switching frequency 13kHz.

[0025] like Figure 3 As shown, the power line carrier module consists of two parts: the mothership end and the vehicle end. Both the mothership end and the vehicle end power line carrier modules include a power and signal transmission unit and a signal modulation and demodulation unit. The power and signal transmission unit is used to realize the coupling of signal and power lines. By converting information data into high-frequency carriers, it can both send information and convert the received high-frequency carrier signals into information data. The signal modulation and demodulation unit realizes the conversion between conventional communication protocols and the protocols of the simultaneous transmission equipment. The mothership-side power line carrier module is connected in parallel to the power output terminal of the charging device. Underwater signals are received or transmitted from the watertight cable to the other end of the watertight cable. After modulation and demodulation by the power line carrier, the information is transmitted to the lithium battery pack management device on the vehicle side, realizing full-duplex communication of underwater signals from the mothership platform to the unmanned vehicle.

[0026] Furthermore, during energy transmission, electrical energy is transmitted from the output of the high-power charging device through a watertight electrical connector, a watertight cable, and the vehicle-side charging module to the vehicle's lithium battery pack. like Figure 4 As shown, in this embodiment, the energy transmission voltage is 300-600VDC, and the transmission power is 90kW. At the mothership end, the high-power charging device, plug-in mechanism, and mothership control console form a CAN network via CAN1 and CAN2, with a communication rate of 250kbps. The portion requiring information exchange with the vessel end passes through the mothership end power line carrier module, coupling the transmission signal to the power circuit. After passing through the underwater power channel composed of underwater electrical connectors and watertight cables, it then passes through the vessel end power line carrier module to complete information exchange with the vessel's lithium battery pack, battery management system (BMS), and central control system.

[0027] Furthermore, the signal filtering module is used to improve the communication stability and environmental interference resistance of the underwater power transmission system; the signal filtering module can meet the transmission requirements of high-frequency signals, and can also filter out other interference signals in underwater power lines. The upper and lower limit frequencies of the signal filtering module are determined as follows: First, determine the center frequency f0 and bandwidth BW of the high-frequency signal transmitted by the mothership's power line carrier module. Then, calculate the high-frequency signal transmission parameters that the signal filtering module must meet to ensure the stability of the high-frequency signal transmission. The lower limit frequency of the bandpass signal filtering module is: - ; The upper frequency limit of the bandpass signal filtering module is: + .

[0028] Furthermore, the watertight electrical connector enables electrical connection between the underwater mothership platform and the unmanned vehicle by configuring a high-power watertight electrical connector plug and socket with positive and negative circuits, and the current carrying capacity of the watertight electrical connector is adapted to the output capacity of the high-power charging device. like Figure 5As shown, in order to achieve watertightness and insulation between the mothership platform and the unmanned vehicle, the watertight electrical connector consists of four parts: a through-cabin socket (mothership), a wet-plug double-ended assembly, a wet-plug double-ended assembly, and a through-cabin socket (vehicle). The wet-plug double-ended assembly consists of a watertight plug that matches the through-cabin socket (mothership), a transverse watertight cable, and a wet-plug plug. In this embodiment, the transverse watertight cable is about 20 meters long. The wet plug socket dual-head assembly consists of a watertight plug that matches the through-cabin socket (aircraft), a transverse watertight cable, and a wet plug socket. In this embodiment, the transverse watertight cable is approximately 10 meters long.

[0029] Because the simultaneous interpretation system requires both positive and negative power transmission channels, this system is equipped with two sets of [equipment / systems]. Figure 5 The underwater power channel shown.

[0030] Furthermore, the insertion and removal mechanism has a passive correction and compensation capability, which enables the alignment, insertion and removal of the watertight electrical connector plug and socket. The insertion / removal mechanism includes: an insertion / removal actuator, a vision sensing device, and a drive controller; the watertight electrical connector plug can move in the x and y planes to align the watertight electrical connector plug with the socket, achieved through x- and y-axis slide assemblies, electric cylinders, and slide rails. The plug can also move telescopically along the direction of the guide cylinder in the z-axis, achieved through z1 and z2 electric cylinders; Specifically, the insertion / removal actuator is an outboard structure that performs insertion / removal actions. Its center is a flange structure for mounting the watertight electrical connector plug, connecting the plug to the insertion / removal mechanism. Three-degree-of-freedom movement and adjustment of the watertight electrical connector are achieved through the design of guide rails in the x, y, and z directions and electric cylinders, ensuring alignment between the plug and socket. Spring support structures are designed around the flange structure to compensate for spatial errors before plug insertion, ultimately establishing a watertight cable path for underwater communication. The visual sensing device is a watertight camera that identifies the position of the plug and socket and transmits the signal back to the mothership platform. The drive control equipment receives the camera images transmitted from the visual sensing device, calculates the displacements to be compensated in the three directions based on the outboard conditions, and drives and controls the x, y, and z three-degree-of-freedom motors.

[0031] Example 2: This example provides an underwater power and communication simultaneous transmission system based on power line carrier, such as... Figure 6 As shown, it uses an online and offline insulation monitoring module configured in the charging device in conjunction with a double-pole contactor to ensure the safety of the power supply circuit. The specific steps are as follows: Step 1: In non-charging conditions, the double-pole contactor KM1 is disconnected, and the insulation resistance Z1 of the output circuit is monitored using the offline insulation monitoring module to ensure the electrical safety of the mothership platform. Step 2: Before connecting the plug and socket of the watertight electrical connector, first close the double-pole contactor KM1, use the offline insulation monitoring module to monitor the insulation resistance Z2 of the output circuit and the underwater power line outside the ship, and after measurement, disconnect the double-pole contactor KM1 to ensure the electrical insulation performance of the communication channel. Step 3: Ensure the watertight electrical connector is stably engaged. After the power channel connection is established, before outputting power, close the double-pole contactor KM2 and use an offline insulation monitoring device to measure the overall insulation resistance Z3 of the charging device, underwater power channel, and vehicle platform to ensure the safety of the energy transmission circuit. Step 4: Achieve communication handshake between the mothership and the aircraft through the power line carrier modules at both ends, ensure stable connection of the power channel, and simultaneously enable simultaneous power and signal transmission; Step 5: During the simultaneous transmission of signals and data, use the online insulation monitoring module to monitor the insulation resistance Z4 of the entire circuit to ensure the insulation performance during the simultaneous transmission of signals and data.

[0032] Example 3, based on the same inventive concept, also provides an underwater energy and communication simultaneous transmission method based on power line carrier, employing the underwater energy and communication simultaneous transmission system described above, such as... Figure 7 As shown, it includes the following steps: Step S1: After the mothership control console issues the command to start the simultaneous communication mission, the mothership's charging device and plug-in mechanism perform a self-test. If the self-test is successful, the subsequent steps will continue. Step S2: The relative distance between the plug and socket of the watertight electrical connector in the x, y, and z directions is determined in real time by the visual perception device, and the real-time determination information is transmitted to the drive controller to control the insertion and removal actuator to perform the corresponding displacement adjustment action so that the plug and socket of the watertight electrical connector can be smoothly inserted. Step S3: After successful insertion, the insertion / removal mechanism sends an insertion-in signal to the mothership control console via power line carrier communication. Step S4: After receiving the insertion signal, the mothership control console sends a communication request to the vehicle's central control system via power line carrier communication. After responding to the communication request, the vehicle's central control system activates simultaneous power transmission. Step S5: When it is determined that the lithium battery pack at the end of the aircraft is fully charged or the mothership control console actively stops charging, the charging device stops, and at the same time the plugging and unplugging mechanism drives the plug and socket of the watertight electrical connector to separate, and the communication ends.

[0033] In this example, the specific simultaneous interpretation process is shown in the table below:

[0034] Furthermore, all parts of this application that are not described in detail are the same as or implemented using existing technology.

[0035] In summary: This invention provides an underwater power and communication transmission system and method based on power line carrier. By modulating information into a high-frequency signal and coupling it to an energy circuit constructed with an existing watertight electrical connector, it effectively solves the noise interference problem between power line carrier signals and energy transmission, thereby achieving high-power, high-speed DC power and communication transmission between the mothership platform and the unmanned aerial vehicle (UAV). Simultaneously, this invention addresses the platform safety issues associated with high-power charging in underwater environments, enables corrective insertion and removal of the watertight electrical connector between the mothership platform and the UAV, effectively reduces the difficulty of inserting and removing existing watertight electrical connectors, improves the success rate of underwater energy replenishment and information exchange, facilitates multiple forward deployments of the UAV for mission execution, and significantly increases the operating radius and operating time of the underwater UAV.

[0036] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0037] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0038] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A power line carrier based underwater energy signal communication system, characterized in that: The charging device is installed on the platform of the mother ship, and the charging module is installed on the unmanned vehicle; The input end of the charging device is connected to the power supply system of the mother ship, the output end of the charging device is connected to the watertight electrical connector plug, the watertight electrical connector plug is installed on the plug-in mechanism outside the cabin of the mother ship platform, the plug-in mechanism is used to adjust the relative position of the plug in the x and y directions, and the plug can be driven to move in the z direction, and the charging device is connected to the power carrier module of the mother ship through a signal filtering module, and the power carrier module of the mother ship is electrically connected to the control console of the mother ship. The output end of the charging module is connected to the lithium battery pack of the vehicle, the input end of the charging module is provided with a watertight electrical connector socket matched with the watertight electrical connector plug, the watertight electrical connector socket is installed on the mounting base of the vehicle, and the charging module is connected to the power carrier module of the vehicle, and the power carrier module of the vehicle is electrically connected to the central control system of the vehicle.

2. The power line carrier based underwater energy signal communication system according to claim 1, wherein, The power carrier module of the mother ship and the power carrier module of the vehicle both include a power and signal transmission unit and a signal modulation and demodulation unit. The power and signal transmission unit is used to convert the information data sent by the control console of the mother ship / central control system of the vehicle into high-frequency carrier signals and couple them into the energy transmission loop through the corresponding charging device / charging module, and is also used to convert the received high-frequency carrier signals into information data for reading by the corresponding control console of the mother ship / central control system of the vehicle. The signal modulation and demodulation unit is used to realize the conversion between the conventional communication protocol and the power and signal transmission equipment protocol.

3. The power line carrier based underwater energy signal communication system according to claim 2, wherein, The signal filtering module is arranged between the power carrier module of the mother ship and the charging device, and the upper and lower limit frequencies of the filtering module are determined according to the center frequency f0 and the bandwidth BW of the high-frequency signal transmitted by the power carrier module of the mother ship, and are specifically as follows: The lower limit frequency f of the signal filtering module is: L is: - ； Upper limit frequency f of the signal filtering module H is: + 。 4. The power line carrier based underwater energy signal communication system according to claim 1, wherein, The charging device is arranged in the cabin of the mother ship platform, and is connected to the watertight electrical connector plug through a double-head watertight cable, and the watertight electrical connector plug is installed on the plug-in mechanism outside the cabin of the mother ship platform; the charging module is arranged in the cabin of the unmanned vehicle, and is connected to the watertight electrical connector socket through a double-head watertight cable, and the watertight electrical connector socket is installed on the mounting base outside the cabin of the unmanned vehicle.

5. The power line carrier based underwater energy signal communication system according to claim 4, wherein, Spring support structures one are uniformly arranged between the watertight electrical connector plug and the mounting flange of the plug-in mechanism in the circumferential direction, spring support structures two are uniformly arranged between the watertight electrical connector socket and the mounting flange of the mounting base in the circumferential direction, and the spring support structures one and the spring support structures two are used to compensate for the space error before the plug and the socket are inserted.

6. The power line carrier based underwater energy signal communication system according to claim 4, wherein, The plug-in mechanism includes a mechanism frame, a plug-in executor, a visual perception device, and a drive controller. The mechanism frame is fixedly connected to the outside of the cabin of the mother ship platform, the plug-in executor includes x, y and z direction electric cylinders and corresponding slide rail assemblies, which are respectively used to adjust the relative position of the watertight electrical connector plug in the x and y directions and drive the watertight electrical connector plug to move in the z direction, so as to realize the insertion action of the plug and the socket.

7. The power line carrier based underwater energy signal communication system according to claim 6, wherein, The visual perception device is specifically a visual recognition camera, which is installed on the watertight electrical connector plug, is used for judging the relative distance of the watertight electrical connector plug and the socket in x, y and z three directions in real time, and transmits the real-time judgment information to the driving controller to control the plug-in actuator to perform corresponding displacement adjustment action.

8. The power line carrier based underwater energy signal communication system according to claim 1, wherein, The charging device and the watertight electrical connector plug are provided with a double-pole contactor KM1, the charging module and the watertight electrical connector socket are provided with a double-pole contactor KM2, and the output end of the charging device is provided with an offline insulation monitoring module and an online insulation monitoring module to perform insulation monitoring control.

9. The power line carrier based underwater energy signal communication system according to claim 8, wherein, The insulation monitoring control specifically includes: Step one: in the non-charging working condition, the double-pole contactor KM1 is disconnected, and at the same time, the offline insulation monitoring module is used to measure whether the insulation resistance Z1 of the charging device output loop is greater than a preset resistance value one, if yes, the subsequent steps are continued, if not, alarm one is sent out; Step two: before the watertight electrical connector plug and the socket, the double-pole contactor KM1 is closed first, and at the same time, the offline insulation monitoring module is used to measure whether the overall insulation resistance Z2 of the charging device output loop and the outboard double-head watertight cable segment is greater than a preset resistance value two, if yes, the subsequent steps are continued, if not, alarm two is sent out; Step three: after the watertight electrical connector plug and the socket are inserted, before the power and signal transmission is started, the double-pole contactor KM2 is closed, and the offline insulation monitoring device is used to measure whether the overall insulation resistance Z3 of the charging device output loop, the outboard double-head watertight cable segment and the charging module of the vehicle end is greater than a preset resistance value three, if yes, the subsequent steps are continued, if not, alarm three is sent out; Step four: the communication handshake between the mother ship and the vehicle is realized through the power carrier modules at both ends, and the stable insertion of the power channel is ensured, and at the same time, the power and signal transmission is started; Step five: during the power and signal transmission, the online insulation monitoring module is used to measure whether the overall loop insulation resistance Z4 between the mother ship and the vehicle is always greater than a preset resistance value four, so as to monitor the insulation performance of the overall loop during the power and signal transmission.

10. A power line carrier based underwater energy signal communication method, employing the underwater energy signal communication system according to any one of claims 1 to 9, characterized by, The method comprises the following steps: S1, after the mother ship control console issues the power and signal transmission task opening instruction, the charging device and the plug-in mechanism of the mother ship perform device self-checking, and after the self-checking is successful, the subsequent steps are continued; S2, the relative distance of the watertight electrical connector plug and the socket in x, y and z three directions is judged in real time through the visual perception device, and the real-time judgment information is transmitted to the driving controller to control the plug-in actuator to perform corresponding displacement adjustment action, so that the watertight electrical connector plug and the socket are successfully inserted; S3, after the insertion is successful, the plug-in mechanism sends an insertion in-place signal to the mother ship control console through the power carrier communication; S4, after the mother ship control console receives the insertion in-place signal, the communication request is sent to the vehicle central control system through the power carrier communication, and the vehicle central control system responds to the communication request to start the power and signal transmission; S5, when it is judged that the lithium battery group of the vehicle end is fully charged or the mother ship control console actively controls to stop charging, the charging device stops, and at the same time, the plug-in mechanism drives the watertight electrical connector plug and the socket to separate, and the power and signal transmission ends.

Images