CN113570832B - Water outlet alarm device of underwater detection equipment - Google Patents
Water outlet alarm device of underwater detection equipment Download PDFInfo
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- CN113570832B CN113570832B CN202110858361.XA CN202110858361A CN113570832B CN 113570832 B CN113570832 B CN 113570832B CN 202110858361 A CN202110858361 A CN 202110858361A CN 113570832 B CN113570832 B CN 113570832B
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B29/00—Checking or monitoring of signalling or alarm systems; Prevention or correction of operating errors, e.g. preventing unauthorised operation
- G08B29/18—Prevention or correction of operating errors
- G08B29/185—Signal analysis techniques for reducing or preventing false alarms or for enhancing the reliability of the system
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B7/00—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00
- G08B7/06—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00 using electric transmission, e.g. involving audible and visible signalling through the use of sound and light sources
Abstract
The invention discloses a water outlet alarm device of underwater detection equipment, which comprises: the underwater detection device comprises a pressure transmitter for converting the pressure of the underwater detection device during activity into a current signal, a water outlet judgment control plate for performing two-way communication with the underwater detection device, acquiring data of the pressure transmitter, judging the motion state of the underwater detection device according to the motion rule of the underwater detection device, and an audible and visual alarm module driven by the water outlet judgment control plate to send a water outlet alarm signal. When the underwater detection equipment floats to the water surface when completing a detection task or encountering faults and dangerous cases, the invention can ensure that researchers can accurately find the underwater detection equipment and salvage and recycle the underwater detection equipment in time, thereby effectively avoiding huge economic loss caused by damage of the underwater detection equipment, loss and leakage of detection data due to untimely salvage and recycle.
Description
Technical Field
The invention belongs to the technical field of underwater detection equipment, and particularly relates to a water outlet alarm device of the underwater detection equipment.
Background
With the exhaustion of land resources and the continuous deepening of understanding of marine resources, marine exploration by using underwater exploration equipment becomes an important means for scientific investigation. Due to the influence of unknown factors such as sea storms, undercurrents and the like on the safety of the underwater detection equipment, after the detection task is completed underwater far away from the coast, the underwater detection equipment is safely recycled and reused, which becomes a key part of the whole detection task. However, at present, the underwater detection device can be successfully recovered only after the detection task is completed or the device is in failure and emergently kept in danger and floated up, so that the underwater detection device cannot be quickly salvaged when the device is in failure, the device is damaged, and huge economic loss of the device caused by loss or secret leakage of the detection data can be caused by the fact that the underwater detection device cannot acquire the underwater detection data in time.
Therefore, the alarm device capable of timely and quickly sending the alarm water outlet signal to the researchers when the underwater detection equipment completes a detection task or breaks down is researched, the researchers are helped to fish out the underwater detection equipment as soon as possible, huge economic loss caused by equipment damage or detection data loss or secret leakage due to untimely fishing is avoided, and the alarm device has great positive significance.
Disclosure of Invention
In order to solve the defects in the prior art, the invention aims to provide a water outlet alarm device of underwater detection equipment. The water outlet alarm device can send a water outlet signal to a main controller of the underwater detection equipment after the underwater detection equipment finishes detection task autonomous floating or emergently avoids failure and floats out of the water surface, and then the main controller sends water information and GPS coordinate information sent by the underwater detection equipment to a mother ship, so that researchers are helped to quickly salvage the equipment.
In order to achieve the purpose, the invention adopts the following technical scheme:
an effluent alarm device of underwater detection equipment comprises: the device comprises a pressure transmitter, a water outlet judgment control board and an audible and visual alarm module; the pressure transmitter is used for converting the pressure borne by the underwater detection equipment during the activity into a current signal; the water outlet judging control board is used for carrying out bidirectional communication with the underwater detection equipment, acquiring data of the pressure transmitter and judging the motion state of the underwater detection equipment according to the motion rule of the underwater detection equipment; the sound-light alarm module is used for judging that the underwater detection equipment has water through the water outlet judgment control board and then driving the sound-light alarm module to send a water outlet alarm signal through the water outlet judgment control board.
Furthermore, the pressure transmitter adopts two absolute pressure type pressure sensors with output current signals of 4-20mA, and is connected with the water outlet judgment control board through a two-wire system, a sensitive element is arranged in the pressure transmitter, and the installation position of the sensitive element is vertical to the floating direction of the underwater detection equipment.
Furthermore, the effluent judgment control panel comprises a power supply unit, an RS-422 communication unit, a data acquisition unit, a data processing unit and a relay output unit.
Further, the power supply unit is used for connecting an external DC28V power supply, and provides 28V power supplies for the pressure transmitter, the sound and light alarm module and the excitation coil of the relay output unit after the interior of the effluent judgment control panel is isolated by the DC-DC module, and provides 3.3V and 5V power supplies for onboard components after the interior of the effluent judgment control panel is isolated by the DC-DC module and transformed; the RS-422 communication unit is used for receiving a control instruction of an external device or sending a water outlet signal and data to the external device; the data acquisition unit is used for converting the current output signal of the pressure transmitter into a voltage signal through a 250 omega precision sampling resistor and sampling the voltage signal by a high-precision 24-bit A/D acquisition module; the data processing unit adopts STM32F103VET6 as a CPU, reads the data after A/D conversion of the data acquisition unit through an SPI bus, and calculates a water outlet judgment algorithm; and the relay output unit is used for driving the sound and light alarm module to send out an alarm signal.
Furthermore, a normally open contact of the relay output unit is connected with two signal lines of the sound-light alarm module, and the contact is closed when the water outlet alarm device judges that the water outlet is effective.
Further, the effluent judgment algorithm mainly comprises the following three parts: a main program, a data acquisition processing program and a water outlet judging program.
Further, the main program is used for finishing initialization of the effluent judgment control board; the data acquisition processing program adopts a 30-point recursion average filtering processing mode, namely, the average value of the pressure data actually acquired in the current 30ms to the past 30ms is used as a sampling value at the current moment, namely
p i Setting the A/D sampling rate to be 1kHz for an actual sampling value; the effluent judgment program acquires a pressure sampling value P according to the data acquisition processing program K Making water judgment, and collecting when 30 continuous pressures are adoptedSample value P K Stable at hydrostatic pressure P 0 Nearby, i.e. the pressure sample value P K Falls within a tolerance interval [ P 0 -P sec ,P 0 +P sec ]Inner, P sec And judging that the underwater detection equipment is discharged water for tolerance offset.
Further, the specific process of the effluent judgment algorithm is as follows:
(1) After the main program receives a floating instruction sent by the underwater detection equipment, a data acquisition processing program is started;
(2) When the data acquisition processing program continuously acquires pressure data, the pressure sampling value P of any point in the acquisition process K With hydrostatic pressure P 0 Satisfy P K ≥(P 0 + Δ P), where Δ P is the starting judgment offset, the effluent judgment program starts to make a water judgment;
(3) Any one of the two pressure transmitters satisfies P MAX -P MIN 2Psec or less, i.e. the pressure sample value P in said step (2) K And if the pressure is stabilized near the hydrostatic surface pressure, judging that the underwater detection equipment is out of water, wherein P MAX 、P MIN Respectively, the maximum and minimum values, P, of the current to past 30ms pressure sample values sec 2Psec is twice the tolerance offset;
(4) And (4) according to the water outlet judgment made in the step (3), sending a water outlet data frame to the underwater detection equipment through an RS-422 bus, and simultaneously driving an audible and visual alarm to send a water outlet alarm signal through a relay.
Further, the tolerance offset P sec 0.896kPa, the pressure tolerance interval being [ P 0 -0.896kPa，P 0 +0.896kPa]。
Further, the water outlet alarm method of the water outlet alarm device of the underwater detection equipment comprises the following steps:
s1, when the underwater detection device floats upwards, firstly, a floating starting instruction is sent to a water outlet judgment control board through an RS-422 bus;
s2, starting a data acquisition processing program after the water outlet judgment control board receives the floating signal of the underwater detection equipment;
s3, converting current signals of the two pressure transmitters into voltage signals respectively through precision resistors R5 and R15 by a data acquisition unit in the effluent judgment control board;
s4, an operational amplifier U4 is adopted to serve as a voltage follower for the converted voltage signal, so that the input impedance of the voltage signal is improved, the output resistance is reduced, and voltage stabilization processing is carried out;
s5, sampling output voltages AIN0 and AIN1 of the two paths of operational amplifiers by adopting a 24-bit high-precision A/D converter U5;
s6, a central processing unit U7 in the effluent judgment control board reads two paths of digital quantity output by the A/D converter U5 through an SPI bus, and whether the underwater detection equipment floats upwards to produce water is judged through an effluent judgment program;
and S7, if the underwater detection device does not output water, repeating the steps S3-S6, if the underwater detection device outputs water, sending a water output data frame to the underwater detection device through an RS-422 bus, and controlling a relay to drive an acousto-optic alarm module to send a water output alarm signal.
Compared with the prior art, the invention has the following positive and beneficial effects:
(1) The water outlet alarm device comprises a pressure transmitter, a water outlet judgment control board and an acousto-optic alarm module, and can firstly convert a pressure signal when the underwater detection equipment floats upwards into a current signal through the pressure transmitter when the underwater detection equipment completes a detection task or encounters a fault or a dangerous situation and utilizes self positive buoyancy to float upwards, collect pressure data through the water outlet judgment control board, judge whether the underwater detection equipment floats upwards to discharge water or not according to the change rule of the pressure of the underwater detection equipment during movement, send a water outlet data frame to the underwater detection equipment through an RS-422 bus, and simultaneously control a relay to drive the acousto-optic alarm module to send a water outlet alarm signal to researchers. When the underwater detection equipment is floated on the water surface after completing a detection task or encountering a fault or a dangerous condition, the underwater detection equipment detection method can ensure that a researcher can accurately find the underwater detection equipment and salvage and recycle the underwater detection equipment in time, and effectively avoids huge economic losses caused by damage to the underwater detection equipment and loss and leakage of detection data due to untimely salvage and recycle.
(2) The invention selects 30-point recursion average filtering algorithm and pressure tolerance interval [ P ] through experiments 0 -0.896kPa，P 0 +0.896kPa]The accuracy of the water outlet judgment algorithm of the water outlet alarm device is ensured, so that the problem of water outlet alarm missing judgment of the water outlet alarm device caused by too small selected filtering points or too small set tolerance interval is effectively solved, or the problem of water outlet alarm delay caused by too large selected filtering points or the problem of water outlet alarm misjudgment caused by too large set tolerance interval is solved. Therefore, the invention reduces the economic loss brought by the problems to a certain extent, and the water outlet alarm device is simple and easy to operate, and the water outlet alarm method is rapid and accurate, thereby having good application prospect.
Drawings
FIG. 1 is a schematic block diagram of the operation of the water outlet alarm device of the underwater detection device of the present invention;
FIG. 2 is a working schematic block diagram of the effluent judgment control panel of the present invention;
FIG. 3 is a flow chart of a water out decision algorithm of the present invention;
FIG. 4 is an I/U conversion circuit diagram of the data acquisition unit of the present invention;
FIG. 5 is a circuit diagram of a high-precision 24-bit A/D acquisition module according to the present invention;
FIG. 6 is a circuit diagram of the CPU operation of the effluent judgment control board of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the specific embodiments and the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive efforts based on the embodiments of the present invention, shall fall within the scope of protection of the present invention.
Example 1
Referring to fig. 1-6, an effluent alarm device for an underwater detection device comprises: the device comprises a pressure transmitter, a water outlet judgment control board and an audible and visual alarm module; wherein:
in order to ensure the reliability of pressure data and the accuracy of effluent judgment, the pressure transmitter adopts two absolute pressure type pressure sensors with output current signals of 4-20mA, and is connected with the effluent judgment control board through a two-wire system, a sensitive head is arranged in the pressure transmitter, and in order to ensure the accuracy of effluent judgment, the sensitive head of the pressure transmitter is arranged in parallel with a still water surface; the two pressure transmitters are used for converting the pressure borne by the underwater detection equipment during movement into a current signal.
The water outlet judging control board is used for carrying out bidirectional signal transmission with the underwater detection equipment, acquiring data transmitted by the pressure transmitter and judging the motion state of the underwater detection equipment according to the motion rule of the underwater detection equipment; the effluent judgment control board comprises a power supply unit, an RS-422 communication unit, a data acquisition unit, a data processing unit and a relay output unit; the power supply unit is used for being connected with an external DC28V power supply, providing a 28V direct-current power supply for the pressure transmitter, the sound and light alarm module and the excitation coil of the relay output unit after the interior of the DC28V power supply is isolated by the DC-DC module, and providing 3.3V and 5V direct-current power supplies for circuit board mounted components after the DC-DC module is isolated and transformed; the RS-422 communication unit is used for receiving a control instruction of the external equipment or sending a water outlet signal and data to the external equipment; the data acquisition unit is used for converting the current output signal of the pressure transmitter into a voltage signal through a 250 omega precision sampling resistor and then sampling the voltage signal through a high-precision 24-bit A/D acquisition module; the data processing unit adopts STM32F103VET6 as a CPU, reads the data after A/D conversion of the data acquisition unit through an SPI bus, and runs a water outlet judgment algorithm; and the relay output unit is used for driving the sound-light alarm module to send out a water outlet alarm signal, a normally open contact of the relay output unit is connected with the two signal lines of the sound-light alarm module, and the contact is closed when the water outlet alarm device judges that water is effective.
And the sound and light alarm module is used for sending sound and light alarm information after the underwater detection equipment goes out of water.
The effluent judgment algorithm of the effluent judgment control board mainly comprises the following three parts: the system comprises a main program, a data acquisition processing program and a water outlet judging program. The detailed process of the effluent judgment software algorithm is shown in FIG. 3: firstly, the initialization of a system clock, a serial port and A/D sampling of a water outlet judgment control board is completed through a main program; in order to eliminate the interference of random errors, a data acquisition processing program adopts a data processing mode of 30-point recursive average filtering, namely, the average value of pressure data acquired from the current time to the past 30ms is used as a sampling value at the current time, namely
p i Is an actual sampling value; and finally, starting a water outlet judgment program to judge the water outlet. The specific process is as follows: the method comprises the steps that a data acquisition processing program starts after a floating instruction of underwater detection equipment is received, in the floating process of the underwater detection equipment, pressure sensed by a pressure transmitter comprises three parts, namely underwater pressure, dynamic pressure during floating and hydrostatic surface pressure (atmospheric pressure on the water surface), when the top of the underwater detection equipment is close to the position near the water surface, the descending speed of the dynamic pressure is increased, the dynamic pressure and the underwater pressure during floating disappear at the moment that the pressure transmitter punctures a water film to discharge water, the pressure is maintained near the hydrostatic surface pressure, and the water discharge of the underwater detection equipment can be judged by utilizing the characteristic in the floating process. In order to avoid the occurrence of underwater misjudgment, when the data acquisition processing program continuously acquires pressure data, only the pressure sampling value P of any point in the acquisition process K Satisfies P with the hydrostatic pressure P0 K ≥(P 0 + Δ P), where Δ P is the starting offset, the effluent judgment program starts to make effluent judgment, that is, it starts to judge whether the underwater detection device produces water at a certain depth below the still water surface, and in the actual collection process, the pressure value after the effluent is not stabilized at an absolute value due to the influence of the environment and the sensor characteristics, so that a tolerance interval is adopted, and when any one of the two pressure transmitters satisfies P MAX -P MIN Less than or equal to 2Psec, wherein, P MAX 、P MIN Are respectively whenMaximum and minimum values of previous 30ms pressure sample values, P sec For the tolerance offset, 2Psec is twice the pressure tolerance offset, i.e. the pressure sample value P K The underwater detection device can be judged to be out of water when the underwater detection device is stabilized near the hydrostatic pressure, a water outlet data frame is sent to the underwater detection device through an RS-422 bus, and meanwhile, an audible and visual alarm is driven through a relay to send a water outlet alarm signal.
The water outlet alarm method of the water outlet alarm device of the underwater detection equipment comprises the following specific processes: s1, when the underwater detection device floats upwards, firstly, a floating starting command frame is sent to a water outlet judgment control board through an RS-422 bus; s2, starting a data acquisition processing program after the water outlet judgment control board receives the floating instruction of the underwater detection equipment; s3, the data acquisition unit converts current signals of the two pressure transmitters into voltage signals through precision resistors R5 and R15 respectively; s4, an operational amplifier U4 is used as a voltage follower of two voltage signals, the input impedance of the voltage signals is improved, the output resistance is reduced, and voltage stabilization processing is carried out; s5, sampling output voltages AIN0 and AIN1 of the two paths of operational amplifiers by using a 24-bit high-precision A/D converter U5; s6, a central processing unit U7 in the water outlet judging control board reads two paths of data output by the A/D converter U5 through an SPI bus, and whether the underwater detection equipment floats upwards to discharge water is judged through a water outlet judging program; and S7, if the underwater detection device does not output water, repeating the steps S3-S6, if the underwater detection device outputs water, sending a water output data frame to the underwater detection device through an RS-422 bus, and controlling a relay to drive an acousto-optic alarm module to send a water output alarm signal.
The experimental simulation process comprises the following steps: the experiment system consists of a simulation experiment platform, a water outlet judging device, a traction rope, a balancing weight, a water tank, an audible and visual alarm and a high-speed camera. The simulation experiment platform can be pulled to the bottom of the water pool and fixed by the aid of the traction rope, the simulation experiment platform floats upwards by positive buoyancy after the traction rope is released, different water outlet speeds can be achieved by changing the size of the balancing weight, and whether the judgment moment of the water outlet judgment device is consistent with the actual water outlet moment or not is determined by observing the audible and visual alarm and the high-speed camera image. Through experimental verification, the following results are found: when the water outlet speed of the underwater detection equipment is 8m/s, the hydrostatic surface pressure is 104.98Kpa, the tolerance offset is set to be 0.896kPa, and the pressure tolerance interval is [104.084kPa,105.876kPa ], the water outlet time of the underwater detection equipment judged by the water outlet alarm device is consistent with the actual water outlet time of the underwater detection equipment, and the judgment is accurate and timely; when the water outlet speed of the underwater detection equipment is 6.9m/s, the hydrostatic surface pressure is 104.98kPa, the tolerance offset is set to be 0.896kPa, and the pressure tolerance interval is [104.084kPa,105.876kPa ], the water outlet time of the underwater detection equipment judged by the water outlet alarm device is delayed by 20ms compared with the actual water outlet time of the underwater detection equipment; when the water outlet speed of the underwater detection equipment is 5.3m/s, the hydrostatic surface pressure is 104.98kPa, the pressure tolerance offset is set to be 0.896kPa, and the pressure tolerance interval is [104.084kPa,105.876kPa ], the water outlet alarm device has underwater misjudgment; when the water outlet speed of the underwater detection equipment is 6.9m/s, the hydrostatic surface pressure is 104.98kPa, the tolerance offset is set to be 0.5kPa, and the pressure tolerance interval is [104.48kPa,105.48kPa ], the water outlet alarm device has the phenomenon of missing judgment.
Therefore, the water outlet alarm device can be judged wrongly underwater if the tolerance offset or the pressure tolerance interval is set too large; if the pressure tolerance offset or the pressure tolerance interval is too small, the water outlet alarm device cannot effectively judge that the underwater detection equipment is out of water under the influence of noise, and the judgment is missed.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and these improvements and modifications should also be construed as the protection scope of the present invention.
Claims (9)
1. The utility model provides an underwater detection equipment's play water alarm device which characterized in that includes: the device comprises a pressure transmitter, a water outlet judgment control board and an audible and visual alarm module; the pressure transmitter is used for converting pressure borne by the underwater detection equipment during activity into a current signal; the water outlet judging control board is used for carrying out bidirectional communication with the underwater detection equipment, acquiring data of the pressure transmitter and judging the motion state of the underwater detection equipment according to the motion rule of the underwater detection equipment; the sound and light alarm module judges that the underwater detection equipment is drained by the water drainage judgment control board and then drives the sound and light alarm module to send out a water drainage alarm signal by the water drainage judgment control board; the water outlet alarm method of the water outlet alarm device of the underwater detection equipment comprises the following steps:
s1, when the underwater detection device floats upwards, firstly, a floating starting command frame is sent to a water outlet judgment control board through an RS-422 bus;
s2, starting a data acquisition processing program after the water outlet judgment control board receives the floating signal of the underwater detection equipment;
s3, respectively converting current signals of the two pressure transmitters into voltage signals through precision resistors R5 and R15 by a data acquisition unit in the water outlet judgment control board;
s4, adopting an operational amplifier U4 as a voltage follower for the converted voltage signal to perform voltage stabilization treatment;
s5, sampling output voltages AIN0 and AIN1 of the two paths of operational amplifiers by adopting a 24-bit high-precision A/D converter U5;
s6, a central processing unit U7 in the water outlet judging control board reads two paths of digital quantity collected by an A/D converter U5 through an SPI bus, and whether the underwater detection equipment floats upwards to discharge water is judged through a water outlet judging program;
s7, if the underwater detection device does not output water, repeating the steps S3-S6, and if the underwater detection device outputs water, sending a water output data frame to the underwater detection device through an RS-422 bus and controlling a relay to drive an acousto-optic alarm module to send a water output alarm signal;
the data acquisition processing program is used for acquiring data of the pressure transmitter and processing the data in a 30-point recursive average filtering mode, and the A/D sampling rate is set to be 1kHz; the effluent judgment program acquires a recursion average filtered pressure sampling value P according to the data acquisition processing program K Making water judgment when 30 continuous pressure sampling values P K Stabilized at hydrostatic pressure P 0 In the vicinity of the location of the mobile station,i.e. the pressure sample value P K All fall within a pressure tolerance interval [ P ] 0 -P sec ,P 0 +P sec ]Inner, P sec And judging that the underwater detection equipment is discharged water for tolerance offset.
2. The water outlet alarm device for the underwater detection equipment as claimed in claim 1, wherein the pressure transmitter adopts two absolute pressure type pressure sensors with output current signals of 4-20mA, and is connected with the water outlet judgment control board through two wires, and a sensing element is arranged in the pressure transmitter, and the mounting position of the sensing element is perpendicular to the floating direction of the underwater detection equipment.
3. The water outlet alarm device of the underwater detection device as claimed in claim 1, wherein the water outlet judgment control board comprises a power supply unit, an RS-422 communication unit, a data acquisition unit, a data processing unit and a relay output unit.
4. The water outlet alarm device of the underwater detection device as claimed in claim 3, wherein the power supply unit is used for connecting an external DC power supply, and after being isolated by the DC-DC module, the inside of the water outlet judgment control board provides 28V power supply for the pressure transmitter, the sound and light alarm module and the excitation coil of the relay output unit, and after being isolated by the DC-DC module, the voltage of the excitation coil is changed, and then the power supply unit provides 3.3V power supply and 5V power supply for on-board components; the RS-422 communication unit is used for receiving a control instruction of an external device or sending a water outlet signal and data to the external device; the data acquisition unit is used for converting the current output signal of the pressure transmitter into a voltage signal through a precise sampling resistor and sampling the voltage signal by a high-precision 24-bit A/D acquisition module; the data processing unit adopts STM32F103VET6 as a CPU, reads the data after A/D conversion of the data acquisition unit through an SPI bus, and runs a water outlet judgment algorithm; and the relay output unit is used for driving the sound and light alarm module to send out an alarm signal.
5. The water outlet alarm device for the underwater detection equipment as claimed in claim 3 or 4, wherein a normally open contact of the relay output unit is connected with two signal lines of the audible and visual alarm module, and when the water outlet alarm device judges that the water outlet is effective, the contact is closed.
6. The water outlet alarm device of the underwater detection equipment as claimed in claim 4, wherein the water outlet judgment algorithm mainly comprises the following three parts: the system comprises a main program, a data acquisition processing program and a water outlet judging program.
7. The water outlet alarm device of the underwater detection device as claimed in claim 6, wherein the main program is used for completing initialization of the water outlet judgment control board.
8. The water outlet alarm device of the underwater detection device as claimed in claim 6, wherein the specific process of the water outlet judgment algorithm is as follows:
(1) After the main program receives a floating instruction sent by the underwater detection equipment, a data acquisition processing program is started;
(2) When the data acquisition processing program continuously acquires the pressure data, the pressure sampling value P of any point in the acquisition process is only required K With hydrostatic pressure P 0 Satisfies P K ≥(P 0 + Δ P), wherein Δ P is the starting judgment offset, and the effluent judgment algorithm starts to make a water judgment;
(3) Any one of the two pressure transmitters satisfies P MAX -P MIN 2Psec or less, and the pressure sampling value P K Falls within a tolerance interval [ P 0 -P sec ,P 0 +P sec ]Inner, i.e. the value P of the pressure sample in said step (2) K And if the water level is stabilized near the hydrostatic pressure, determining that the underwater detection equipment is discharged water, wherein P MAX 、P MIN Respectively the maximum value and the minimum value of the pressure sampling values from the current time to the past 30 ms;
(4) And (4) according to the water outlet judgment made in the step (3), sending a water outlet data frame to the underwater detection equipment through an RS-422 bus, and simultaneously driving an audible and visual alarm to send a water outlet alarm signal through a relay.
9. The water outlet alarm device for underwater detection equipment as claimed in claim 7, wherein the tolerance offset P is sec At 0.896kPa, the pressure tolerance interval being [ P 0 -0.896kPa，P 0 +0.896kPa]。
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| WO2009043570A1 (en) * | 2007-09-28 | 2009-04-09 | GSan - Ökologische Gewässersanierung GmbH | Underwater device carrier and apparatus for working on or investigating a water-bed |
| CN205787139U (en) * | 2016-06-23 | 2016-12-07 | 谭钧元 | The abnormal floating location tracking device of a kind of underwater installation |
| CN109085774A (en) * | 2018-06-11 | 2018-12-25 | 同济大学 | The underwater safety device of seabed electromechanical equipment |
| CN112050808A (en) * | 2020-09-14 | 2020-12-08 | 济南浪潮高新科技投资发展有限公司 | Method for detecting floating of underwater unmanned vehicle on water surface |
| CN213750344U (en) * | 2020-11-30 | 2021-07-20 | 中国科学院海洋研究所 | Pressure-controlled underwater equipment recycling and positioning device |
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