CN116054687A - Floating type offshore photovoltaic power generation system - Google Patents
Floating type offshore photovoltaic power generation system Download PDFInfo
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- CN116054687A CN116054687A CN202310062506.4A CN202310062506A CN116054687A CN 116054687 A CN116054687 A CN 116054687A CN 202310062506 A CN202310062506 A CN 202310062506A CN 116054687 A CN116054687 A CN 116054687A
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- 238000010248 power generation Methods 0.000 title claims abstract description 51
- 238000007667 floating Methods 0.000 title claims abstract description 46
- 238000012423 maintenance Methods 0.000 claims abstract description 12
- 238000012983 electrochemical energy storage Methods 0.000 claims abstract description 8
- 239000007788 liquid Substances 0.000 claims description 8
- 230000005484 gravity Effects 0.000 claims description 5
- 230000002093 peripheral effect Effects 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 9
- 238000005516 engineering process Methods 0.000 description 6
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000001174 ascending effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001066 destructive effect Effects 0.000 description 1
- 238000004146 energy storage Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 239000013535 sea water Substances 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 239000002352 surface water Substances 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S10/00—PV power plants; Combinations of PV energy systems with other systems for the generation of electric power
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/44—Floating buildings, stores, drilling platforms, or workshops, e.g. carrying water-oil separating devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/24—Automatic depth adjustment; Safety equipment for increasing buoyancy, e.g. detachable ballast, floating bodies
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S10/00—PV power plants; Combinations of PV energy systems with other systems for the generation of electric power
- H02S10/20—Systems characterised by their energy storage means
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S20/00—Supporting structures for PV modules
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S20/00—Supporting structures for PV modules
- H02S20/30—Supporting structures being movable or adjustable, e.g. for angle adjustment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/44—Floating buildings, stores, drilling platforms, or workshops, e.g. carrying water-oil separating devices
- B63B2035/4433—Floating structures carrying electric power plants
- B63B2035/4453—Floating structures carrying electric power plants for converting solar energy into electric energy
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Photovoltaic Devices (AREA)
Abstract
The invention discloses a floating type offshore photovoltaic power generation system, which comprises an offshore platform (1), a photovoltaic module (8) and electrical equipment for photovoltaic power generation, wherein the offshore platform is a floating platform with mooring devices (4) arranged on the periphery, the photovoltaic module is arranged on the upper surface of the offshore platform, an equipment room is arranged in the middle of the offshore platform, and the electrical equipment for photovoltaic power generation, an electrochemical energy storage device and the electrical equipment for photovoltaic power generation are arranged in the equipment room; the periphery of the offshore platform is provided with a plurality of air bags (9), the outside of the offshore platform is connected with a plurality of counterweights (10), the air system is connected with the air bags, the offshore platform floats on the sea surface under the rated sea condition, and the offshore platform sinks under the sea surface under the severe sea condition, and the offshore platform floats up to the sea surface under the severe sea condition. The invention effectively reduces the manufacturing cost of the floating type offshore photovoltaic power generation system, simplifies the system structure and reduces the operation and maintenance workload.
Description
Technical Field
The invention relates to a photovoltaic power generation system, in particular to a floating type offshore photovoltaic power generation system.
Background
The photovoltaic power generation needs to occupy a large amount of land surface area, the land light resource of China is mainly concentrated in the northern Shaanxi region, the economically developed region is mainly concentrated in the coastal region, and the contradiction that the power generation region is not matched with the load region exists. The ocean photovoltaic has the advantages of not occupying land area, being close to a load area and the like, and can be used as an important direction for resource development in the future.
The water surface photovoltaic power generation technology is mainly divided into a fixed pile photovoltaic power generation technology and a floating photovoltaic power generation technology. The fixed pile photovoltaic power generation technology is mainly applicable to areas with small depth such as lake surfaces, offshore beaches and the like, and floating photovoltaic power generation is applicable to the areas, deep sea, open sea and the like. The floating type photovoltaic power generation technology is applied more because of small wind and wave on the land, and the main technical problems are solved, but the wind and wave on the sea is large, and the related floating type photovoltaic power generation technology on the sea is still immature.
The upper surface of a conventional floating type offshore photovoltaic power generation system is covered with a photovoltaic module, and cables and electrical equipment required by other photovoltaic power generation are uniformly distributed in an internal closed space of the floating type offshore photovoltaic power generation system. The system well protects electrical equipment and accessories, but in order to obtain larger generated energy, more photovoltaic modules are required to be arranged on the upper surface of the system, so that the upper surface area of the system is increased, meanwhile, the height of an internal closed space of the system is not less than 2 meters for convenient maintenance, so that the total volume of the system is increased, the buoyancy required by floating the system is larger, if a floating action is required, a large-volume pressurized water cabin, a large-displacement water system and a large-displacement air system are required, the closed space has high sealing and pressure-bearing requirements, and the installation difficulty is high, so that the manufacturing cost of the existing floating type offshore photovoltaic power generation system is high.
Disclosure of Invention
The invention aims to solve the technical problem that the existing floating type offshore photovoltaic power generation system has high manufacturing cost, and provides the floating type offshore photovoltaic power generation system which can reduce the manufacturing cost, simplify the system and reduce the operation and maintenance workload.
In order to solve the technical problems, the invention adopts the following technical scheme:
the utility model provides a floating submerged type offshore photovoltaic power generation system, includes offshore platform, photovoltaic module and photovoltaic power generation electrical equipment, offshore platform is the floating platform of peripheral arrangement mooring device, offshore platform's upper surface mounting photovoltaic module, wherein:
the middle part of the offshore platform is provided with a closed equipment room, the equipment room is internally provided with the electrical equipment for photovoltaic power generation, the electrochemical energy storage device and the gas system, and the middle part of the equipment room is provided with an open type overhaul and maintenance channel;
the marine platform is characterized in that a plurality of air bags are arranged on the periphery of the marine platform, a plurality of counterweights are connected to the outer surface of the marine platform, the air system is connected with the air bags, when the marine platform floats on the sea surface under the rated sea condition, the marine platform enters a submerged state when the marine platform is in a severe sea condition, the air system pumps out air in the air bags, the air bags are reduced in volume and reduced in buoyancy, the marine platform sinks below the sea surface under the action of the counterweights and self gravity, the air system injects air into the air bags after the severe sea condition is finished, the volume of the air bags is enlarged, the buoyancy is increased, and the marine platform floats to the sea surface.
Compared with a general floating type offshore photovoltaic power generation system, the floating type offshore photovoltaic power generation system has the advantages that the water system and the ballast water tank are fewer, the manufacturing cost of the floating type offshore photovoltaic power generation system is effectively reduced, the system structure is simplified, and the operation and maintenance workload is reduced. In addition, the open type overhaul and maintenance channel is arranged in the middle of the equipment room, so that the equipment room does not need to be about two meters in height, the same power generation power can be ensured by a smaller system volume, and the system cost is reduced.
In a specific embodiment, the air system comprises an air compressor, an air storage tank and a pneumatic valve, and the air compressor, the air storage tank, the pneumatic valve and the air bag are sequentially connected to form an air loop.
Preferably, the air system further comprises a pressure transmitter, wherein the pressure transmitter is installed at the air outlet end of the air storage tank, and the pressure transmitter is connected with the control end of the air compressor.
Preferably, a liquid level sensor is arranged on the periphery of the offshore platform, and a signal output end of the liquid level sensor is connected with a control end of the air compressor, so that the ascending depth and the ascending speed of the offshore platform can be conveniently controlled.
Preferably, a gyroscope for controlling the attitude of the system is arranged at the gravity center position of the offshore platform, and the gyroscope is connected with the control end of the pneumatic valve so as to adjust the air pressure of the air bag through controlling the opening degree of the pneumatic valve, thereby realizing the adjustment of the attitude of the offshore platform.
Preferably, the equipment room comprises a transformer room, an inverter room and a floating equipment room, wherein a transformer is installed in the transformer room, an inverter is installed in the inverter room, the electrochemical energy storage device and the gas system are installed in the floating equipment room, and the overhaul and maintenance channel is arranged above the transformer room.
Preferably, the transformer room is arranged in the middle of the equipment room, and the inverter room and the submerged equipment room are sequentially arranged on the periphery of the transformer room, so that the balance state of the offshore platform is conveniently maintained.
Preferably, the offshore platform is a butterfly-shaped open platform, and the upper surface of the offshore platform is arranged obliquely downwards from the middle to two sides, so that surface water of the offshore platform is discharged.
Preferably, the mooring device is provided with a buoy so as to float on the sea surface through the buoy, thereby facilitating identification and avoiding the platform body from being impacted by the ship.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention adopts the grid material to cover the surface of the offshore platform, so that other areas except the outdoor of the equipment are in an open state, the drainage volume is reduced, and the buoyancy is reduced.
2. Compared with a general floating type offshore photovoltaic power generation system, the invention reduces the water system and the ballast water bag, effectively reduces the cost, simplifies the system and reduces the operation and maintenance workload.
3. The offshore platform adopts the butterfly structure, the stress on the two sides is uniform, the stress distribution of the upper surface and the lower surface is reasonable when the offshore platform is lifted, and the upper surface of the offshore platform has the downward gradient from the middle to the two sides, so that the accumulated water on the upper surface of the offshore platform can be discharged.
4. According to the invention, the electrical equipment except the photovoltaic module and the photovoltaic cable is intensively arranged in the equipment room, so that the equipment is prevented from being soaked in seawater for a long time and impacted by sea waves, the equipment is safer, the service life of the equipment is prolonged, and the overhaul and maintenance workload is reduced.
5. The invention can control the floating of the offshore platform according to sea conditions, and effectively avoid the destructive influence of severe sea conditions on the system through floating.
6. The air system of the general offshore platform is not provided with an air storage tank, air is sucked and discharged on the sea surface through a floating air taking pipe, hidden danger that an air taking pipe opening is submerged or blocked exists, and the risk is avoided by adopting an internal closed air system consisting of an air bag, an air compressor, the air storage tank, a pipeline and accessories.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of the floating and submerged offshore photovoltaic power generation system of the present invention.
Fig. 2 is a schematic plan distribution view of the floating type offshore photovoltaic power generation system of the present invention.
Fig. 3 is a schematic diagram of the gas system of the present invention.
In the figure: 1-an offshore platform; 2-a liquid level sensor; 3-buoy; 4-mooring means; 5-gas system; a 6-transformer; 7-an inverter; 8-a photovoltaic module; 9-an air bag; 10-balancing weight; 11-an electrochemical energy storage device; 12-gyroscopes; 13-a transformer room; 14-an inverter chamber; 15-a submersible plant chamber; 16-seabed; 17-sea level; 501-an air compressor; 502-an air storage tank; 503-a pressure transmitter; 504-first pneumatic valve.
Detailed Description
The invention is further described below in connection with specific preferred embodiments, but it is not intended to limit the scope of the invention.
For convenience of description, the relative positional relationship of the components, such as: the descriptions of the upper, lower, left, right, etc. are described according to the layout directions of the drawings in the specification, and do not limit the structure of the present patent.
As shown in fig. 1 and 2, an embodiment of the submerged offshore photovoltaic power generation system of the present invention includes an offshore platform 1, a photovoltaic module 8, and electrical devices for photovoltaic power generation (a transformer room 13, an inverter room 14).
The offshore platform 1 is a butterfly-shaped open platform, and the upper surface of the offshore platform 1 is arranged downwards from the middle to two sides to form a gradient, so that accumulated water on the upper surface of the offshore platform 1 can flow away rapidly. The photovoltaic module 8 is mounted on the upper surface of the offshore platform 1. The perimeter of the offshore platform 1 is provided with mooring means 4 for limiting the floating area of the offshore platform 1. The buoy 3 is installed on the mooring device 4, and the upper part of the buoy 3 floats on the sea surface so as to facilitate identification and avoid the impact of the offshore platform 1 to and from the ship.
The middle position of the offshore platform 1 is set to be a closed equipment room, the equipment room comprises a transformer room 13, an inverter room 14 and a floating equipment room 15 which are sequentially arranged from inside to outside, a transformer 6 is installed in the transformer room 13, an inverter 7 is installed in the inverter room 14, and two sets of gas systems 5 and two sets of electrochemical energy storage devices 11 are installed in the floating equipment room 15. An open type overhaul and maintenance channel is arranged on the transformer chamber 13.
The surface of the non-equipment room area of the offshore platform 1 is covered by a grid-shaped material, so that the area except the equipment room is in an open state, thereby reducing the drainage volume during floating and submerging and lowering the floating force.
8 air bags 9 are arranged on the periphery of the offshore platform 1, so that the air pressure of the air bags 9 is controlled through the air system 5, the buoyancy of the offshore platform 1 is adjusted, and the control of floating and submerging of the offshore platform 1 is realized.
And the balance weights 10 are uniformly distributed at the periphery and the center of the offshore platform 1 and used for reducing the difference between buoyancy and the weight of the offshore platform 1 and reducing the total volume of the air bags 9.
The periphery of the offshore platform 1 is provided with 8 liquid level sensors 2, the air bags 9 are arranged in one-to-one correspondence with the liquid level sensors 2, and the signal output ends of the liquid level sensors 2 are connected with the control end of the air compressor 501 so as to control the submergence depth of the offshore platform 1.
The gyroscope 12 for controlling the attitude of the system is arranged at the gravity center position of the offshore platform 2, and the gyroscope 12 is connected with the control end of the pneumatic valve 504 so as to adjust the air pressure of the corresponding air bag 9 through controlling the opening degree of the pneumatic valve 504, thereby controlling the attitude of the offshore platform 1.
The electrochemical energy storage device 11 is used for providing power for the gas system 5 and is used as an energy storage device for photovoltaic power generation.
As shown in fig. 3, the air system 5 includes an air compressor 501, an air tank 502, a pressure transmitter 503, and a pneumatic valve 504, where the air compressor 501, the air tank 502, the pneumatic valve 504, and the air bag 9 are sequentially connected to form an air circuit, the pressure transmitter 503 is installed at an air outlet end of the air tank 502, the pressure transmitter 503 is connected to a control end of the air compressor 501, and the gyroscope 10 is connected to a control end of the pneumatic valve 504.
When the sea state is rated, the air compressor 501 in the air system 5 charges air in the air storage tank 502 into the air bag 9, so that the buoyancy of the offshore platform 1 is equal to the dead weight, the offshore platform 1 floats on the sea surface for the photovoltaic module 8 to absorb solar power generation (the power generation principle and the power generation system of the photovoltaic module 8 are in the prior art), when the sea state is severe, the offshore platform 1 enters a submerged state, the air compressor 501 in the air system 5 pumps air in the air bag 9 into the air storage tank 502, the total volume of the air bag 9 is reduced, the buoyancy is reduced, the offshore platform 1 sinks below the sea surface under the action of the dead weight and the counterweight 10, after the preset submerged depth is reached, the air compressor 501 charges a proper amount of air into the air bag 9, when the buoyancy of the offshore platform 1 is equal to the dead weight and the counterweight 10, the whole offshore platform 1 is hovered at the preset submerged depth, after the severe sea state is disappeared, the air bag 9 is continuously enlarged, the volume of the air bag 9 is enlarged, so that the buoyancy of the offshore platform 1 is increased and is greater than the dead weight and the counterweight is floated to the sea surface.
While the invention has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. Therefore, any simple modification, equivalent variation and modification of the above embodiments according to the technical substance of the present invention shall fall within the scope of the technical solution of the present invention.
Claims (9)
1. The utility model provides a floating submerged type offshore photovoltaic power generation system, includes offshore platform (1), photovoltaic module (8) and electrical equipment for photovoltaic power generation, offshore platform is the floating platform of peripheral arrangement mooring device (4), offshore platform's last surface mounting photovoltaic module, its characterized in that:
the middle part of the offshore platform is provided with a closed equipment room, the equipment room is internally provided with the electrical equipment for photovoltaic power generation, the electrochemical energy storage device and the gas system, and the middle part of the equipment room is provided with an overhaul and maintenance channel;
the marine platform is characterized in that a plurality of air bags (9) are arranged on the periphery of the marine platform, a plurality of counterweights (10) are connected to the outer surface of the marine platform, the air system is connected with the air bags, when the marine platform floats on the sea surface under the rated sea condition, the marine platform enters a submerged state when under the severe sea condition, the air system pumps out air in the air bags, the air bags are reduced in volume and reduced in buoyancy, the marine platform sinks below the sea surface under the action of the counterweights and self gravity, the severe sea condition is ended, the air system injects air into the air bags, the volume of the air bags is enlarged, the buoyancy is increased, and the marine platform floats up to the sea surface.
2. The floating offshore photovoltaic power generation system according to claim 1, wherein the gas system comprises an air compressor (501), a gas storage tank (502) and a pneumatic valve (504), and the air compressor (501), the gas storage tank (502), the pneumatic valve (504) and the air bag are sequentially connected to form a gas loop.
3. The submersible offshore photovoltaic power generation system of claim 2, further comprising a pressure transmitter (503) mounted at the air outlet end of the air reservoir and connected to the control end of the air compressor.
4. The floating offshore photovoltaic power generation system according to claim 2, characterized in that a liquid level sensor (2) is arranged at the periphery of the offshore platform, and a signal output end of the liquid level sensor is connected with a control end of the air compressor (501).
5. The submersible offshore photovoltaic power generation system according to claim 2, characterized in that a gyroscope (12) for controlling the attitude of the system is arranged at the center of gravity position of the offshore platform, the gyroscope being connected to the control end of the pneumatic valve.
6. The floating offshore photovoltaic power generation system according to claim 1, wherein the equipment room comprises a transformer room (13), an inverter room (14) and a floating equipment room (15), wherein a transformer (6) is installed in the transformer room, an inverter (7) is installed in the inverter room, the electrochemical energy storage device and the gas system are installed in the floating equipment room, and the overhaul maintenance channel is arranged above the transformer room.
7. The floating offshore photovoltaic power generation system according to claim 6, wherein the transformer chamber is arranged in the middle of the equipment room, and the inverter chamber and the floating equipment room are sequentially arranged on the periphery of the transformer chamber.
8. The floating offshore photovoltaic power generation system of claim 1, wherein the offshore platform is a butterfly-shaped open platform, and the upper surface of the offshore platform is arranged obliquely downwards from the middle to two sides.
9. The submersible offshore photovoltaic power generation system according to claim 1, characterized in that the mooring means is provided with a buoy (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310062506.4A CN116054687A (en) | 2023-01-16 | 2023-01-16 | Floating type offshore photovoltaic power generation system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310062506.4A CN116054687A (en) | 2023-01-16 | 2023-01-16 | Floating type offshore photovoltaic power generation system |
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| CN116054687A true CN116054687A (en) | 2023-05-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202310062506.4A Pending CN116054687A (en) | 2023-01-16 | 2023-01-16 | Floating type offshore photovoltaic power generation system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN119037649A (en) * | 2024-10-25 | 2024-11-29 | 烟台三维岩土工程技术有限公司 | Three-dimensional clam type self-balancing offshore photovoltaic power generation floating platform |
| CN119551146A (en) * | 2024-10-31 | 2025-03-04 | 同济大学 | A shallow sea self-sinking and floating profile buoy based on flexible solar energy materials and method thereof |
| CN120348445A (en) * | 2025-06-23 | 2025-07-22 | 重庆坤联机械制造有限公司 | Method and system for controlling posture of submersible |
-
2023
- 2023-01-16 CN CN202310062506.4A patent/CN116054687A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN119037649A (en) * | 2024-10-25 | 2024-11-29 | 烟台三维岩土工程技术有限公司 | Three-dimensional clam type self-balancing offshore photovoltaic power generation floating platform |
| CN119551146A (en) * | 2024-10-31 | 2025-03-04 | 同济大学 | A shallow sea self-sinking and floating profile buoy based on flexible solar energy materials and method thereof |
| CN120348445A (en) * | 2025-06-23 | 2025-07-22 | 重庆坤联机械制造有限公司 | Method and system for controlling posture of submersible |
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