CN113541232A - Power management system of high-power double-propeller underwater booster - Google Patents
Power management system of high-power double-propeller underwater booster Download PDFInfo
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- 238000012544 monitoring process Methods 0.000 claims abstract description 40
- 238000012545 processing Methods 0.000 claims abstract description 22
- 230000006854 communication Effects 0.000 claims description 8
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- 230000000007 visual effect Effects 0.000 claims description 5
- 238000000034 method Methods 0.000 claims 1
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- 230000007175 bidirectional communication Effects 0.000 abstract description 2
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- 238000004458 analytical method Methods 0.000 description 1
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/42—Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells
- H01M10/425—Structural combination with electronic components, e.g. electronic circuits integrated to the outside of the casing
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/00032—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by data exchange
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
- H02J7/0048—Detection of remaining charge capacity or state of charge [SOC]
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0063—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with circuits adapted for supplying loads from the battery
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0068—Battery or charger load switching, e.g. concurrent charging and load supply
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/42—Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells
- H01M10/425—Structural combination with electronic components, e.g. electronic circuits integrated to the outside of the casing
- H01M2010/4271—Battery management systems including electronic circuits, e.g. control of current or voltage to keep battery in healthy state, cell balancing
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Manufacturing & Machinery (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- General Chemical & Material Sciences (AREA)
- Secondary Cells (AREA)
Abstract
The invention is suitable for the technical improvement field of electronic voltage management, and provides a power management system of a high-power double-propeller underwater booster, which comprises a battery monitoring and collecting module, wherein the output end of the battery monitoring and collecting module is connected with the input end of a comparison control module, the output end of the comparison control module is connected with the input end of a switching control module, the voltage output end of the battery monitoring and collecting module is connected with the voltage input end of the switching control module, the voltage output end of the switching control module is connected with the voltage input end of a power supply module, the voltage output end of the power supply is respectively connected with the power supply end of a driving module and the power supply end of a power module, the battery monitoring and collecting module is connected with a micro-processing control module for bidirectional communication, the output end of the micro-processing control module is respectively connected with the input end of the comparison control module and the input end of the switching control module, the input end of the driving module and the control end of the power supply. The output power of the booster is improved, the endurance time of the speed is increased, and the use experience and the safety of a user are improved.
Description
Technical Field
The invention belongs to the field of improvement of electronic voltage management technology, and particularly relates to a power management system of a high-power double-propeller underwater booster.
Background
The existing underwater booster is limited in design capacity of a battery and limited in power output, so that the speed and the endurance time are greatly influenced; the user experience satisfaction is improved, and the design speed and endurance are increased, so that the capacity of the battery needs to be increased, and the number of the battery packs needs to be increased. How to intelligently manage the battery pack is a problem which needs to be urgently solved when the product is put on the market.
The existing underwater booster solves the problem of endurance by increasing the capacity of a battery pack, and the capacity of a single battery cannot be too large due to the restriction of a battery production process, a material battery core and a discharge temperature. If the battery is in fault and short circuit, the battery is easy to burn due to overheating temperature, and the underwater booster can not be used any more.
Disclosure of Invention
The invention aims to provide a power management system of a high-power double-propeller underwater booster, and aims to solve the technical problem.
The invention is realized in such a way that the power management system of the high-power double-propeller underwater booster comprises a battery monitoring acquisition module, a comparison control module, a switching control module, a micro-processing control module, a driving module, a power module and a power supply source, wherein the output end of the battery monitoring acquisition module is connected with the input end of the comparison control module, the output end of the comparison control module is connected with the input end of the switching control module, the voltage output end of the battery monitoring acquisition module is connected with the voltage input end of the switching control module, the voltage output end of the switching control module is connected with the voltage input end of the power supply source module, the voltage output end of the power supply source is respectively connected with the power supply end of the driving module and the power supply end of the power module, and the battery monitoring acquisition module is connected with the micro-processing control module for two-way communication, and the output end of the micro-processing control module is respectively connected with the input end of the comparison control module, the input end of the switching control module, the input end of the driving module and the control end of the power supply.
The further technical scheme of the invention is as follows: the power management system of the high-power double-propeller underwater booster further comprises a display module, and the input end of the display module is connected with the output end of the micro-processing control module.
The further technical scheme of the invention is as follows: the power management system of the high-power double-propeller underwater booster further comprises an indication module, and the input end of the indication module is connected with the output end of the micro-processing control module.
The further technical scheme of the invention is as follows: the battery monitoring and collecting module comprises a plurality of groups of battery units and monitoring and collecting units, the monitoring and collecting ends of the monitoring and collecting units are respectively connected with the output ends of the battery units, and the output ends of the monitoring and collecting units are respectively connected with the input end of the comparison control module and the input end of the microprocessing control module.
The further technical scheme of the invention is as follows: the switching control module comprises a plurality of groups of switching control units, the power inlet end of each switching control unit is connected with one group of output ends of the battery units, the power outlet end of each switching control unit is connected with the voltage input end of the power supply unit, and the control end of each switching control unit is connected with the output end of the microprocessing control module and the output end of the comparison control module.
The further technical scheme of the invention is as follows: the driving module comprises a first electric control unit and a second electric control unit, the power module comprises a first motor and a second motor, the output end of the first electric control unit is in communication connection with the control end of the first motor, the output end of the second electric control unit is in communication connection with the control end of the second motor, and the input end of the first electric control unit and the input end of the second electric control unit are respectively connected with the output end of the microprocessing control module.
The further technical scheme of the invention is as follows: and the comparison control module is used for comparing the electric quantity of the battery monitoring and collecting module one by one and controlling the closed conduction of a channel corresponding to the highest electric quantity in the switching control module according to a comparison result.
The further technical scheme of the invention is as follows: the micro-processing control unit is used for monitoring and acquiring the electric quantity change in the battery monitoring and acquisition module, analyzing and processing the electric quantity of each group of batteries in the module according to the change of the electric quantity, outputting an instruction to the comparison control module to adjust and switch a voltage channel according to the electric quantity, outputting an instruction to the driving module according to the electric quantity, generating visual data information according to the analyzed result data information, outputting the visual data information to the display module to display, and generating indication information to indicate through the flash-out mode of the indicator lamp.
The further technical scheme of the invention is as follows: and the driving module is used for receiving the control instruction sent by the micro-processing control module, converting the control instruction into instruction information which can be identified by the motor according to the control instruction and outputting the instruction information to the power module, and controlling the power module to perform dynamic operation according to the instruction information.
The further technical scheme of the invention is as follows: the display module adopts an LCD display screen, the indicating module adopts an LED indicating lamp, the battery unit adopts a rechargeable battery pack, and the first motor and the second motor adopt high-power direct current motors.
The invention has the beneficial effects that: the underwater booster with the high-power double-propeller multi-power-supply management system can be used for placing a plurality of battery packs according to product design, and the power can be intelligently and independently controlled among a plurality of groups of batteries to supply power to the underwater booster without manual intervention, has a low battery pack warning function, can be conveniently detached and replaced by a user, and can timely find out the short circuit phenomenon of battery faults. The detachable battery is also convenient to carry and charge. The output power of the booster can be improved, the endurance time of the booster is improved by increasing the navigational speed, the booster can be designed according to a larger size, and the use experience and the safety of a user are improved.
Drawings
Fig. 1 is a block diagram of a power management system of a high-power double-propeller underwater booster provided by an embodiment of the invention.
Detailed Description
As shown in FIG. 1, the power management system of the high-power double-propeller underwater booster provided by the invention comprises a battery monitoring and collecting module, a comparison control module, a switching control module, a microprocessor control module, a driving module, a power module and a power supply source, wherein the output end of the battery monitoring and collecting module is connected with the input end of the comparison control module, the output end of the comparison control module is connected with the input end of the switching control module, the voltage output end of the battery monitoring and collecting module is connected with the voltage input end of the switching control module, the voltage output end of the switching control module is connected with the voltage input end of the power supply source module, the voltage output end of the power supply source is respectively connected with the power supply end of the driving module and the power supply end of the power module, and the battery monitoring and collecting module is connected with the microprocessor control module for bidirectional communication, and the output end of the micro-processing control module is respectively connected with the input end of the comparison control module, the input end of the switching control module, the input end of the driving module and the control end of the power supply. The underwater booster with the high-power double-propeller multi-power-supply management system can be used for placing a plurality of battery packs according to product design, and the power can be intelligently and independently controlled among a plurality of groups of batteries to supply power to the underwater booster without manual intervention, has a low battery pack warning function, can be conveniently detached and replaced by a user, and can timely find out the short circuit phenomenon of battery faults.
The power management system of the high-power double-propeller underwater booster further comprises a display module, and the input end of the display module is connected with the output end of the micro-processing control module. The analysis data can be directly displayed through the display screen for on-site reference, so that on-site workers can rapidly make a corresponding scheme for replacing the battery according to the display data.
The power management system of the high-power double-propeller underwater booster further comprises an indication module, and the input end of the indication module is connected with the output end of the micro-processing control module. The indication module can be used for rapidly judging the components which have faults and need to be maintained, and the stability and reliability of each component are well ensured.
The battery monitoring and collecting module comprises a plurality of groups of battery units and monitoring and collecting units, the monitoring and collecting ends of the monitoring and collecting units are respectively connected with the output ends of the battery units, and the output ends of the monitoring and collecting units are respectively connected with the input end of the comparison control module and the input end of the microprocessing control module. Carry out electric quantity collection and monitoring to the battery, the user state that can effectual assurance battery also can guarantee the work that the robot can be normal always simultaneously, change and maintenance that can be timely. The detachable battery is also convenient to carry and charge. The output power of the booster can be improved, the endurance time of the booster is improved by increasing the navigational speed, the booster can be designed according to a larger size, and the use experience and the safety of a user are improved.
The switching control module comprises a plurality of groups of switching control units, the power inlet end of each switching control unit is connected with one group of output ends of the battery units, the power outlet end of each switching control unit is connected with the voltage input end of the power supply unit, and the control end of each switching control unit is connected with the output end of the microprocessing control module and the output end of the comparison control module. The one-to-one switch control ensures the stability of the power supply of the equipment.
The driving module comprises a first electric control unit and a second electric control unit, the power module comprises a first motor and a second motor, the output end of the first electric control unit is in communication connection with the control end of the first motor, the output end of the second electric control unit is in communication connection with the control end of the second motor, and the input end of the first electric control unit and the input end of the second electric control unit are respectively connected with the output end of the microprocessing control module.
And the comparison control module is used for comparing the electric quantity of the battery monitoring and collecting module one by one and controlling the closed conduction of a channel corresponding to the highest electric quantity in the switching control module according to a comparison result.
The micro-processing control unit is used for monitoring and acquiring the electric quantity change in the battery monitoring and acquisition module, analyzing and processing the electric quantity of each group of batteries in the module according to the change of the electric quantity, outputting an instruction to the comparison control module to adjust and switch a voltage channel according to the electric quantity, outputting an instruction to the driving module according to the electric quantity, generating visual data information according to the analyzed result data information, outputting the visual data information to the display module to display, and generating indication information to indicate through the flash-out mode of the indicator lamp.
And the driving module is used for receiving the control instruction sent by the micro-processing control module, converting the control instruction into instruction information which can be identified by the motor according to the control instruction and outputting the instruction information to the power module, and controlling the power module to perform dynamic operation according to the instruction information.
The display module adopts an LCD display screen, the indicating module adopts an LED indicating lamp, the battery unit adopts a rechargeable battery pack, and the first motor and the second motor adopt high-power direct current motors.
The multi-battery underwater booster can increase or decrease batteries at will under the condition of ensuring that one battery is connected, and the system judges according to the current capacity of each battery and switches to which battery is used for supplying power for the booster; the pre-battery cut-off is automatically completed by the system without manual operation. When a certain amount of batteries is exhausted, a user can conveniently detach the batteries according to the prompt of the booster and install new batteries with capacity; therefore, a user can freely replace the battery when going out to play, and the motor cruising speed and the cruising time can be correspondingly increased.
The battery access judgment of the underwater booster with the high-power double-propeller multi-battery management is carried out before the booster is started, and the accessed battery voltage signals are sent to the battery comparison and control unit for one-by-one comparison before the booster is started. Comparison principle: and comparing the two values one by one in sequence, and selecting the maximum value of the electric quantity. After comparison, the battery with the highest current voltage is selected, the comparison control module outputs a corresponding control signal to the power supply switching control module, and the corresponding battery is started to supply power. Therefore, the electric energy of the battery unit is transmitted to the motor power supply through the power supply switching control module to supply power to the subsequent motor.
The high-power double-propeller multi-battery-management underwater booster has the advantages that batteries after being started are monitored in real time, and access selection is carried out. The battery unit is connected with the MCU micro-processing control module through an RS485 control bus, the MCU micro-processing control module can inquire and acquire the electric quantity information of the battery unit at any time through the RS485 bus, the battery unit with the current optimal electric quantity is automatically judged by a system according to a corresponding algorithm after the battery quantity information (voltage + current) is acquired, then a control signal is output to the corresponding power switching and control module, and a corresponding power supply channel is opened for supply.
The underwater booster with the high-power double propellers and the multi-battery management has the functions of battery quantity indication and alarm. When the battery pack is low in battery capacity, the MCU can detect low-power information in real time, and informs a user of which battery is low in power through the mode of flashing an LCD screen icon or flashing an LED lamp, and whether the battery is replaced by the operation of the user. The detachable battery is also convenient to carry and charge. The output power of the booster can be improved, the endurance time of the booster is improved by increasing the navigational speed, the booster can be designed according to a larger size, and the use experience and the safety of a user are improved.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. The power management system of the high-power double-propeller underwater booster is characterized by comprising a battery monitoring and collecting module, a comparison control module, a switching control module, a micro-processing control module, a driving module, a power module and a power supply source, wherein the output end of the battery monitoring and collecting module is connected with the input end of the comparison control module, the output end of the comparison control module is connected with the input end of the switching control module, the voltage output end of the battery monitoring and collecting module is connected with the voltage input end of the switching control module, the voltage output end of the switching control module is connected with the voltage input end of the power supply source module, the voltage output end of the power supply source is respectively connected with the power supply end of the driving module and the power supply end of the power module, and the battery monitoring and collecting module is connected with the micro-processing control module for two-way communication, and the output end of the micro-processing control module is respectively connected with the input end of the comparison control module, the input end of the switching control module, the input end of the driving module and the control end of the power supply.
2. The power management system of the high-power double-propeller underwater booster as claimed in claim 1, wherein the power management system of the high-power double-propeller underwater booster further comprises a display module, and an input end of the display module is connected with an output end of the microprocessing control module.
3. The power management system of the high-power double-propeller underwater booster as claimed in claim 2, wherein the power management system of the high-power double-propeller underwater booster further comprises an indication module, and an input end of the indication module is connected with an output end of the microprocessing control module.
4. The power management system of the high-power double-propeller underwater booster as claimed in claim 3, wherein the battery monitoring and collecting module comprises a plurality of sets of battery units and monitoring and collecting units, the monitoring and collecting ends of the monitoring and collecting units are respectively connected with the output ends of each set of battery units, and the output ends of the monitoring and collecting units are respectively connected with the input end of the comparison control module and the input end of the microprocessing control module.
5. The power management system of the high-power double-propeller underwater booster as claimed in claim 4, wherein the switching control module comprises a plurality of groups of switching control units, the power inlet end of each group of switching control units is connected with the output end of one group of battery units, the power outlet end of each group of switching control units is respectively connected with the voltage input end of the power supply unit, and the control end of each group of switching control units is respectively connected with the output end of the microprocessing control module and the output end of the comparison control module.
6. The power management system of the high-power double-propeller underwater booster as claimed in claim 5, wherein the driving module comprises a first electric regulation control unit and a second electric regulation control unit, the power module comprises a first motor and a second motor, an output end of the first electric regulation control unit is in communication connection with a control end of the first motor, an output end of the second electric regulation control unit is in communication connection with a control end of the second motor, and an input end of the first electric regulation control unit and an input end of the second electric regulation control unit are respectively connected with an output end of the microprocessing control module.
7. The power management system of the high-power double-propeller underwater booster as claimed in any one of claims 1 to 6, wherein the comparison control module is configured to compare the electric quantities of the battery monitoring and collecting modules one by one, and control the switching of the path corresponding to the highest electric quantity in the control module to be closed and conducted according to the comparison result.
8. The power management system of the high-power double-propeller underwater booster as claimed in claim 7, wherein the micro-processing control unit is configured to monitor and collect changes in the electric quantity in the battery monitoring and collecting module, analyze and process the changes in the electric quantity to calculate the electric quantity of each group of batteries in the module, output an instruction to the comparison control module to adjust the switching voltage path according to the electric quantity, output a control instruction to the driving module according to the electric quantity, generate visual data information of the analyzed result data information, output the data information to the display module to display, and generate indication information to indicate through a flashing mode of the indicator light.
9. The power management system of the high-power double-propeller underwater booster as claimed in claim 8, wherein the driving module is configured to receive the control command from the microprocessor control module, convert the control command into command information that can be recognized by the motor according to the control command, output the command information to the power module, and control the power module to perform dynamic operation according to the command information.
10. The power management system of the high-power double-propeller underwater booster as claimed in claim 6, wherein the display module is an LCD display screen, the indication module is an LED indicator light, the battery unit is a rechargeable battery pack, and the first motor and the second motor are high-power direct current motors.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110601178.1A CN113541232A (en) | 2021-05-31 | 2021-05-31 | Power management system of high-power double-propeller underwater booster |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110601178.1A CN113541232A (en) | 2021-05-31 | 2021-05-31 | Power management system of high-power double-propeller underwater booster |
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| CN113541232A true CN113541232A (en) | 2021-10-22 |
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| CN202110601178.1A Pending CN113541232A (en) | 2021-05-31 | 2021-05-31 | Power management system of high-power double-propeller underwater booster |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106100022A (en) * | 2016-06-20 | 2016-11-09 | 江苏瀚海芯云网络科技有限公司 | Active equalization battery management system |
| US20170353042A1 (en) * | 2015-02-24 | 2017-12-07 | Beijing Samevolt Co., Ltd. | Smart battery, electric energy allocation bus system, battery charging and discharging method and electric energy allocation method |
| CN108974307A (en) * | 2018-07-20 | 2018-12-11 | 深圳市吉影科技有限公司 | A kind of underwater propeller circuit |
| CN110228369A (en) * | 2019-06-24 | 2019-09-13 | 三一汽车制造有限公司 | Cell power systems, vehicle and control method |
| CN209441586U (en) * | 2018-12-05 | 2019-09-27 | 深圳市吉影科技有限公司 | A kind of underwater propeller |
-
2021
- 2021-05-31 CN CN202110601178.1A patent/CN113541232A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20170353042A1 (en) * | 2015-02-24 | 2017-12-07 | Beijing Samevolt Co., Ltd. | Smart battery, electric energy allocation bus system, battery charging and discharging method and electric energy allocation method |
| CN106100022A (en) * | 2016-06-20 | 2016-11-09 | 江苏瀚海芯云网络科技有限公司 | Active equalization battery management system |
| CN108974307A (en) * | 2018-07-20 | 2018-12-11 | 深圳市吉影科技有限公司 | A kind of underwater propeller circuit |
| CN209441586U (en) * | 2018-12-05 | 2019-09-27 | 深圳市吉影科技有限公司 | A kind of underwater propeller |
| CN110228369A (en) * | 2019-06-24 | 2019-09-13 | 三一汽车制造有限公司 | Cell power systems, vehicle and control method |
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