CN115308815A - Automatic monitoring method and device for accidental water outlet of submarine electromagnetic exploration device - Google Patents
Automatic monitoring method and device for accidental water outlet of submarine electromagnetic exploration device Download PDFInfo
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Abstract
The invention provides an automatic monitoring method and device for accidental water outlet of a submarine electromagnetic exploration device, which comprises the following steps: acquiring information of an electric field sensor, information of a magnetic field sensor and information of an azimuth angle sensor; respectively carrying out preliminary analysis on the electric field sensor information, the magnetic field sensor information and the azimuth angle sensor information to obtain first prejudgment information; under the condition that the first prejudgment information meets a preset condition, carrying out secondary analysis on the first prejudgment information to obtain second prejudgment information; and determining whether the submarine electromagnetic exploration device accidentally produces water according to the second pre-judging information. The electric field sensor, the magnetic sensor information and the azimuth angle sensor which are arranged in the instrument cabin are obtained to respectively obtain the electric field information, the magnetic field information and the azimuth angle information, and the change amplitudes of the three information are analyzed to judge whether the instrument cabin floats to the water surface accidentally, so that the purpose of identifying whether the instrument cabin floats to the water surface accidentally through a device carried by the instrument cabin is realized.
Description
Technical Field
The invention relates to the technical field of seabed detection, in particular to an automatic monitoring method and device for accidental water outlet of a seabed electromagnetic exploration device.
Background
The seabed electromagnetic exploration receiving device is used for seabed electromagnetic exploration or underwater electromagnetic field characteristic research. Which comprises a base and an instrument cabin. An electromagnetic receiving device and a data recording device are arranged in the instrument cabin, and after long-term signal acquisition and recording tasks are completed, the instrument cabin is separated from the bottom anchor system in a timing mode or an underwater sound remote control mode, floats out of the water surface under the action of buoyancy of the instrument cabin, and then the instrument cabin is salvaged and data are recovered. In the actual use process, the unexpected situations or risks such as false operation of a separation device of the instrument cabin and the bottom anchor system, unexpected floating after corrosion damage in the underwater long-term service process, water salvage of non-cooperative objects and the like exist. In order to avoid losing important recorded data and data, the data instrument cabin needs to automatically sense and identify the underwater and overwater states of the data instrument cabin.
The conventional method for judging the water outlet state of the underwater platform is to directly measure the depth by using a pressure sensor, but the pressure sensor is used on the bottom-seated platform, and because the diameter of a pressure transmission hole is only millimeter, the pressure transmission hole is influenced by sediment settlement, burying, biological attachment growth and the like, the pressure sensor is very easy to block and lose efficacy in the practical submarine working process, and the long-term underwater use is limited. Moreover, the use of a single sensor is not conducive to redundant design and reliability is limited.
Considering that the submarine electromagnetic exploration receiving device is an electric field sensor, a magnetic field sensor and an azimuth angle sensor which are carried for completing an electromagnetic signal receiving task, the submarine electromagnetic exploration receiving device can distinguish the difference between underwater states and overwater states on different physical quantities, and belongs to different properties. The underwater and water surface states are comprehensively judged in a multi-sensor and multi-physical-field information fusion mode.
The invention adopts the basic principle of multi-sensor and multi-physical field information fusion, and comprehensively analyzes the underwater and overwater different state information acquired by the electric field, the magnetic field and the azimuth angle sensor in a multi-layer judgment and fuzzy recognition mode, thereby improving the reliability of the water outlet state judgment.
Disclosure of Invention
The invention aims to solve the defects in the prior art and provides a method and a device for automatically monitoring the water outlet state of a seabed electromagnetic exploration receiving device, wherein the method and the device can automatically judge and send an instruction to a position indicating beacon when an instrument cabin floats out of the water surface, control the beacon to be electrified and work, and transmit the water outlet position information to a working mother ship or a land control center.
An automatic monitoring method for accidental water outlet of a submarine electromagnetic exploration device comprises the following steps:
respectively acquiring information of an electric field sensor, information of a magnetic field sensor and information of an azimuth angle sensor;
respectively comparing the information of the electric field sensor, the information of the magnetic field sensor and the information of the azimuth angle sensor to obtain a preliminary comparison result; the method specifically comprises the following steps: when the electric field sensor is in an underwater state, because seawater is a good conductor, the potential difference between the electric field sensor arrays is very small, and the output value is also small after passing through the self conditioning circuit; when the electric field sensors output water, the open-circuit voltage between the electric field sensors outputs the amplitude voltage of the saturation magnitude after passing through the conditioning circuit of the electric field sensors; taking a threshold voltage between underwater state voltage and water outlet state voltage, comparing the actually measured voltage of the electric field sensor with the threshold value during actual work, and obtaining a first sub item in the first prejudgment information when the actually measured voltage is greater than the threshold voltage; the magnetic field sensor also takes a comparison threshold value between the underwater stable state output voltage and the water floating change state voltage, when the magnetic field sensor works actually, the actually measured voltage of the magnetic field sensor is compared with the threshold value, and when the actually measured voltage is greater than the threshold value voltage, a second subentry in the first prejudgment information is obtained; the azimuth angle sensor also takes a comparison threshold value between the underwater stable state output voltage and the variation state voltage of the floating rotation of the discharged water, during actual work, the actually measured voltage of the azimuth angle sensor is compared with the threshold value, and when the actually measured voltage is greater than the threshold value voltage, a third subentry in the first prejudgment information is obtained; whether the output signal amplitudes of the electric field sensor, the magnetic field sensor and the azimuth angle sensor exceed respective threshold values or not is used as a first preset condition;
taking the preliminary comparison result as first prejudgment information under the condition that the comparison result meets a first preset condition;
performing secondary analysis on the first prejudgment information to obtain a second analysis result; and multiplying the three sub-events of the first pre-judgment information according to different pre-distributed proportional weights respectively, weighting, comparing the weighted result with a set threshold value of a higher level, so that the result is equivalent to a second analysis result and a second preset condition, and determining whether the submarine electromagnetic exploration device unexpectedly produces water according to the comparison result to obtain a final judgment result.
In one embodiment, the comparing the electric field sensor information, the magnetic field sensor information, and the azimuth sensor information respectively obtains a preliminary comparison result:
comparing the electric field sensor information with a preset voltage threshold to obtain a voltage comparison result, comparing the magnetic field sensor information with a preset induced electromotive force threshold to obtain an induced electromotive force comparison result, and comparing the azimuth angle sensor information with a preset azimuth angle threshold to obtain an azimuth angle comparison result;
and respectively taking the voltage comparison result, the induced electromotive force comparison result and the azimuth angle comparison result as the preliminary comparison result.
In one embodiment, the comparing the preliminary comparison result with a first preset condition, and in the case that the comparison result meets the first preset condition, the using the preliminary comparison result as the first prejudgment information includes:
comparing the voltage comparison result with a first threshold, and if the comparison result is greater than a second threshold and the duration of the second threshold is greater than a third threshold, prejudging that the electric field sensor acquires a water outlet characteristic signal;
the first threshold value refers to an intermediate value taken between the output signal amplitudes of the electric field sensor, the magnetic field sensor and the azimuth angle sensor in the underwater stable state and the water outlet unstable state respectively, and the intermediate value is used as a threshold value;
the second threshold value refers to a threshold value which is obtained between an underwater state and a water state after the first layer of criterion is weighted according to different weights in proportion;
the third threshold is a time threshold, and is duration time for presetting and judging that the state is in a stable state;
and taking the voltage comparison result as the first prejudgment information.
In one embodiment, the comparing the preliminary comparison result with a first preset condition, and in the case that the comparison result meets the first preset condition, the using the preliminary comparison result as the first prejudgment information includes:
comparing the induced electromotive force comparison result with a fourth threshold, and if the induced electromotive force comparison result is greater than a fifth preset value and the duration of the fifth preset value is greater than the third threshold, prejudging that the magnetic field sensor acquires a water outlet characteristic signal;
and taking the induced electromotive force comparison result as the first pre-judgment information.
In one embodiment, the comparing the preliminary comparison result with a first preset condition, and in the case that the comparison result meets the first preset condition, the using the preliminary comparison result as the first prejudgment information includes:
comparing the azimuth angle comparison result with a sixth threshold value, and if the comparison result is greater than a seventh threshold value and the duration of the seventh threshold value is greater than the third threshold value, prejudging that the azimuth angle sensor acquires a water outlet characteristic signal;
and taking the water outlet characteristic signal as the first prejudgment information.
In an embodiment, the performing the second analysis on the first predetermined information to obtain a second analysis result includes:
processing the first prejudgment information by adopting the following formula to obtain a second analysis result
Wherein, the first and the second end of the pipe are connected with each other,
representing total membership as the second analysis result;
representing the membership degree of the first prejudgment information;
the amount of information representing the first anticipation information,
representing the specific content corresponding to the first anticipation information.
In an embodiment, the performing the secondary analysis on the first anticipation information to obtain a second analysis result includes:
and comparing the total membership degree with a preset membership degree threshold value, and identifying the water outlet state if the comparison result is within the membership degree threshold value range.
Another object of the present invention is to provide an automatic monitoring device for accidental water discharge of a submarine electromagnetic surveying apparatus, comprising:
the electric field sensor is used for acquiring information of the electric field sensor;
the magnetic field sensor is used for acquiring information of the magnetic field sensor;
the azimuth sensor is used for acquiring information of the azimuth sensor;
the multi-path comparator is used for respectively comparing the electric field sensor information, the magnetic field sensor information and the azimuth angle sensor information to obtain a preliminary comparison result;
the preliminary judgment module is used for comparing the preliminary analysis result with a first preset condition and taking the preliminary comparison result as first pre-judgment information under the condition that the comparison result meets the first preset condition;
the analysis module is used for carrying out secondary analysis on the first prejudgment information to obtain a second analysis result;
and the secondary judgment module is used for comparing the second analysis result with a second preset condition and determining whether the submarine electromagnetic exploration device accidentally produces water according to the comparison result.
Another object of the present invention is to provide an electronic device, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the method for automatically monitoring unexpected water discharge of the seafloor electromagnetic surveying apparatus.
It is another object of the present invention to provide a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method for automatic monitoring of unexpected water outflow from a subsea electromagnetic surveying apparatus.
Has the advantages that:
according to the automatic monitoring method and device for accidental water outlet of the seabed electromagnetic exploration device, the electric field sensor, the magnetic sensor and the azimuth angle sensor arranged in the instrument cabin are obtained to respectively obtain the electric field information, the magnetic field information and the azimuth angle information, and the change amplitude of the three information is analyzed to judge whether the instrument cabin floats to the water surface accidentally, so that the purpose of identifying whether the instrument cabin floats to the water surface accidentally through the device carried by the instrument cabin is achieved. Because the water outlet state of the conventional underwater platform is monitored, the current depth of the platform is usually measured by a pressure (depth) sensor to visually judge the water outlet state, but the seabed electromagnetic exploration receiving device usually adopts a working mode of sitting and sinking seabed and is influenced by seabed water flow, sediment sedimentation, marine organism parasitism and the like, and a pressure transmission hole of the pressure (depth) sensor has the risk of silt deposition and blockage to cause failure and is limited in the aspects of using sea areas, environmental adaptability and the like. Therefore, the magnetic sensor and the azimuth angle sensor are arranged in the closed instrument cabin, so that the working environment is relatively stable and is slightly influenced by the outside; in addition, the surface of the electric field sensor is smooth, and sediment settlement is not easy to generate. The risk of blockage and failure of the pressure transfer hole in the technical approach of directly adopting the pressure (depth) sensor to judge the depth is avoided.
The invention adopts the electric field sensor, the magnetic sensor and the azimuth angle sensor to respectively acquire the change conditions of the electric field information, the magnetic field information and the azimuth angle information when the platform is discharged, and utilizes the sensor information with different properties and sources to carry out multi-physical-field information fusion. According to the general theory of multi-sensor information fusion, the reliability of information detection can be improved.
Drawings
FIG. 1 is a schematic view of an instrument pod configuration;
FIG. 2 is a flow chart of the method for automatically monitoring unexpected water discharge of the submarine electromagnetic surveying device according to the present invention;
FIG. 3 is an equivalent circuit diagram of a silver-silver chloride electrode array in seawater;
FIG. 4 is a schematic view of an azimuth angle sensor in a seabed state of an actual measurement long-time instrument cabin;
FIG. 5 is a schematic view of the azimuth angle change of the azimuth angle sensor in the sea surface water outlet state of the actual measurement instrument capsule;
FIG. 6 is a second flowchart of the method for automatically monitoring unexpected water discharge of the electromagnetic prospecting device in the sea bottom according to the present invention;
FIG. 7 is a block diagram of an automatic monitoring device for accidental water discharge of the electromagnetic prospecting device for sea bottom according to the present invention;
FIG. 8 is a schematic structural diagram of an electronic device provided by the present invention;
reference numerals:
1-an electric field sensor; 2-instrument cabin; 3-a magnetic field sensor; 4-azimuth angle sensor.
Detailed Description
To make the objects, technical solutions and advantages of the present invention clearer and more complete, the technical solutions of the present invention are described below clearly, and it is obvious that the described embodiments are some, not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to realize automatic monitoring and identification of the water outlet state of the cabin body of the recovery instrument of the electromagnetic exploration device and solve the problem of limited information judgment reliability of a single sensor under the premise of not additionally adding the sensor. Fig. 1 is a schematic structural diagram of an instrument pod, and as shown in fig. 1, an array of electric field sensors 1 is mounted at the head of the instrument pod, and a magnetic field sensor 3 and an azimuth angle sensor 4 are mounted on a base inside an instrument pod 2. The invention adopts the difference information of different environments such as underwater, floating process and water surface and the like acquired by a plurality of sensors such as an electric field, a magnetic field, an azimuth angle and the like configured in an instrument cabin body. The single chip microcomputer is adopted to carry out threshold detection on the signal amplitude and the signal duration of the electric field sensor signal, the magnetic field sensor signal and the azimuth angle sensor signal, and the automatic monitoring of the accidental water outlet state of the self-supporting submarine electromagnetic exploration receiving device is realized in a multi-physical-field information comprehensive judgment mode, so that the purposes of improving the reliability of water outlet state identification and reducing the false alarm probability are achieved.
Fig. 2 is a flow chart of the automatic monitoring method for unexpected water discharge of the submarine electromagnetic surveying device, as shown in fig. 2, the method includes the following steps:
step 201: respectively acquiring information of an electric field sensor, information of a magnetic field sensor and information of an azimuth angle sensor;
step 202: respectively comparing the information of the electric field sensor, the information of the magnetic field sensor and the information of the azimuth angle sensor to obtain a preliminary comparison result;
step 203: comparing the preliminary comparison result with a first preset condition, and taking the preliminary comparison result as first pre-judgment information under the condition that the comparison result meets the first preset condition;
step 204: performing secondary analysis on the first prejudgment information to obtain a second analysis result;
step 205: and comparing the second analysis result with a second preset condition, and determining whether the seabed electromagnetic exploration device produces water accidentally according to the comparison result.
Specifically, the invention utilizes an electric field sensor to acquire the electric field information of the discharged water. The electric field sensors are used in pairs, electromagnetic signals sent by exploration equipment are obtained by measuring the potential difference between two points in an underwater space, and the electromagnetic signals are attenuated quickly in seawater, so that the received electric field signals are very weak and are usually in the order of magnitude of microvolts, and the amplification gain of a matched conditioning circuit is extremely high and reaches tens of thousands of times. The conductivity of the seawater is far higher than that of air, when an instrument cabin body carrying the electric field sensor array floats out of water, the impedance between paired electrodes of the electric field sensor array is changed into an open circuit (high insulation impedance) from a low resistance state in the seawater, at the moment, the output of an amplifying circuit is saturated under the high-power amplification of a configured high-gain differential amplifying circuit, the amplitude of the saturated voltage is close to the power supply voltage of the amplifying circuit, the state of direct current voltage is kept for a long time, and the amplitude threshold of a comparator in a single chip microcomputer is set to identify and judge.
FIG. 3 is an equivalent circuit diagram of a silver-silver chloride electrode array in seawater, an electric field sensor is commonly used
The electrodes are exemplified by two paired electrodes
When the sensor is in seawater, the loop formed by the electrode, the seawater and the post-stage signal conditioning circuit can be described by using an equivalent circuit shown in fig. 3.
Two branches
The potential of the electrode at the point is respectively
And
，
、
respectively, the resistance values of the solution are,
respectively the charge transfer resistances of the electrode/seawater interface,
respectively, non-ideal capacitance represented by the diffusion effect of the electrode surface;
the input impedance of the subsequent stage signal conditioning circuit is, then the input voltage of the subsequent stage circuit is:
the two electrode signals enter a differential circuit to obtain the potential difference between two points in the direction of one axis in the electric field, and the distance between the electrodes is constant, so the measured potential difference reflects the change of the field intensity, and the electric field signal is obtained. Because sea water is a good electric conductor, electromagnetic signals are attenuated quickly in water, the electromagnetic signals received underwater need to be amplified highly, a high-precision instrument amplifier is generally used in engineering to form a differential amplifier, and the actual use effect of the differential amplifier is closely related to the internal impedance characteristic of a preceding-stage sensor:
pairs operating in seawater for visual analysis
The electrode is regarded as having an internal impedance of
And output is
The dipole signal source of (2):
when the seawater desalination device is normally used in actual seawater,
the conductivity of the seawater medium,
The length and diameter of the electrodes, the distance between the electrodes, etc., according to the sea waterThe electric conductivity is 30000uS/cm, the electrode distance is in the order of 1 meter, and the resistance value is generally recommended by an electrode design and manufacturing unit to be in the order of 10 omega.
(1) The underwater state is as follows:
the latter differential circuit uses a high-precision differential instrument amplifier, taking a low-noise high-precision instrument amplifier AD8429 of ADI company as an example, and the input bias current is 150nA, so that the bias voltage of the sensor internal resistance formed at the input end of the amplifier is:
when the gain of the amplifier is 10000 times, the bias voltage of the output end is
(2) And (3) water outlet state:
and when the electric field sensor is out of water, an open circuit is formed between the electrodes, the internal resistance of the sensor tends to be infinite, the estimation is carried out only by taking the equivalent insulation resistance as 10 MOmega, and the calculation method is as follows:
the bias voltage of the output end can reach 15V, the output bias voltage of the underwater state is uV-level, the output bias voltage of the water state is V-level, great difference exists between the output bias voltage and the water state, the output bias voltage and the water state are easy to distinguish, and the output bias voltage can be reliably distinguished only through an amplitude comparator:
it can be seen that after an open circuit is formed, only the input bias current of the circuit chip is sufficient to saturate the circuit. When the circuit is saturated, the output voltage is a dc voltage close to the supply voltage and is stable over time.
The circuit saturation state can be identified by setting a comparison threshold on the amplitude and time through a comparator in a single chip microcomputer, taking a circuit powered by +/-5V as an example, setting the threshold voltage on the amplitude to be +/-4.5V and the threshold on the time to be 5s, then the output voltage of the electric field sensor and a matched instrument amplifier circuit exceeds +/-4.5V, and when the output voltage is kept for more than 5s, an open circuit state is formed between electrodes of the electric field sensor, and the open circuit state is taken as a factor for judging the water outlet state.
Next, electric field information of the magnetic field is acquired by the magnetic field sensor. The magnetic field sensor is used for receiving electromagnetic exploration signals, alternating electromagnetic exploration signals are detected under the strong background of the earth magnetic field, the requirement on the stability of the magnetic field sensor is high, when an instrument cabin floats up to water and is in a water surface floating state, the stable state of the magnetic field sensor cannot be kept, a three-axis magnetic probe of the magnetic field sensor generates irregular motion relative to the earth magnetic field, strong disturbance signals are correspondingly generated on the three-axis magnetic probe, and the strong disturbance signals are greatly different from periodic electromagnetic exploration signals received during normal stable work in amplitude, frequency range and duration: the amplitude of the disturbance signal is far larger than that of the electromagnetic exploration signal, the main frequency band of the disturbance signal is lower than that of the electromagnetic exploration signal, and the duration of the disturbance signal is longer than that of the pulse of the normal electromagnetic exploration signal. Therefore, a high-pass filter can be arranged to separate low-frequency disturbance signals, and the single chip microcomputer extracts and identifies the magnetic characteristic information of the floating water and the floating state of the instrument cabin by setting the amplitude and time detection threshold of the internal comparator.
A dual-magnetic-core fluxgate sensor system commonly used for receiving electromagnetic exploration signals is characterized in that a probe adopts a runway type dual-magnetic core, and an excitation coil is wound on a magnetic core framework. The frequency synthesizer generates an excitation signal, the probe excitation coil is driven to excite the magnetic core after power amplification, alternating current excitation magnetic fields applied to two sides of the runway-type magnetic core are the same in size and opposite in direction, when an external magnetic field is not zero, the magnetic field in one section of the magnetic core is the magnetic field of the excitation signal plus an external magnetic field to be measured, the magnetic field in the other section of the magnetic core is the magnetic field of the excitation signal minus the external magnetic field to be measured, so that the magnetic fluxes in the two sections of the magnetic core are different, and the even harmonic component can be obviously amplified under the condition that the magnetic core is saturated according to a magnetic permeability formula of a magnetic material, and the fluxgate sensor formally measures the underwater magnetic field based on the nonlinear change characteristic.
Under the condition of symmetrical shape, size and electromagnetic parameters, the induced electromotive forces generated in the common induction coil by the magnetic field generated by the exciting coil are mutually counteracted, and the induced electromotive forces generated in the common induction coil by the external magnetic field to be measured are mutually superposed due to opposite signs. Therefore, when the external magnetic field to be measured has slight change, the magnetic induction intensity in the common induction coil can be obviously changed, and obvious electromotive force can be generated in the induction coil.
The instrument cabin is in an unstable state in the water outlet process and in a floating state on the sea surface, and generates movement displacement relative to a geomagnetic field, at the moment, the external magnetic field which changes relative to the three-axis probe of the magnetic sensor generates strong electromotive force in the induction coil, so that large-amplitude signal output is generated, and the large-amplitude signal output can be used as a factor for judging the water state by setting a signal amplitude comparison threshold.
It can be seen that, from the working mechanism of the magnetic sensor itself, the geomagnetic field which changes relatively due to the rotation of the geomagnetic sensor generates a large amplitude signal disturbance output on the magnetic sensor, which is also well verified by practice. The most intuitive evidence is that magnetic sensors in the market all require the mounting platform to be stable.
And secondly, utilizing a magnetic compass to obtain the water azimuth information. In order to complete the conversion between the three-component sensor coordinate system and the geodetic coordinate system, the submarine electromagnetic exploration receiving device needs to be provided with a magnetic compass to acquire the azimuth angle and attitude angle information of the submarine electromagnetic exploration receiving device. An attitude angle sensor and a magnetic sensor probe for measuring an azimuth angle are integrated in the magnetic compass: there are both cases where the magnetic probe is configured independently and designs where the magnetic probe is shared with the sensor receiving the electromagnetic survey signal. The azimuth angle and attitude angle sensors can measure the azimuth and attitude changes of the instrument cabin of the seabed electromagnetic exploration receiving device from a stable state of sitting and sinking on the seabed to a floating water outlet and water surface floating process, and the singlechip sets thresholds for the variation of the azimuth angle and the attitude angle through the internal comparator and extracts the water outlet characteristics of the instrument cabin.
In order to complete the conversion between the coordinate system of the three-component sensor and the geodetic coordinate system, the underwater seabed electromagnetic exploration receiving device needs to be provided with a magnetic compass to obtain the azimuth angle of the underwater seabed electromagnetic exploration receiving device. When the receiving device is normally operated under the underwater sunken seabed, the receiving device is in a stable state, and the obvious difference between the underwater stable state and the water outlet floating state can be visually seen according to the measured data, as shown in fig. 4 and 5:
fig. 4 is a schematic view of an azimuth angle of the instrument pod in a seabed state measured by an azimuth angle sensor for a long time, and as shown in fig. 4, an output signal of the azimuth angle sensor (magnetic compass) is stable at a certain angle for a long time, mainly represented as a static drift signal of the azimuth angle sensor, and usually does not exceed ± 0.5. Fig. 5 is a schematic diagram illustrating the azimuth angle change of the azimuth angle sensor in the sea surface water discharge state of the actual measurement instrument capsule, as shown in fig. 5, during the water discharge process and in the sea surface floating state, due to the influence of external environments such as ocean currents, wind waves and the like, the stability of the cylindrical instrument capsule body is damaged, changes such as swing and roll are generated, the output of the corresponding azimuth angle sensor changes, the azimuth angle change exceeds ± 4, and the angle change is used as a criterion for judging the water discharge state.
Finally, after extracting the information of the electric field, the magnetic field, the azimuth angle and the like of the outlet water of the instrument cabin, adopting fuzzy mode identification, namely comprehensively considering the quantitative contribution and the overall level of the information of the electricity, the magnetism and the azimuth angle, adopting a comprehensive fuzzy algorithm, using a concept of fuzzy membership degree, and extracting a plurality of membership degrees of a plurality of characteristic quantities formed by threshold identification according to the elements of a received characteristic information sample, so as to obtain the overall membership degree of the sample, wherein for the sake of simplicity, the weights of the information of the electricity, the magnetism and the azimuth angle are considered to be the same, and the equal weight identification is adopted, so that the time is as follows:
wherein the content of the first and second substances,
representing the total membership degree, and taking the total membership degree as the second analysis result;
representing the membership degree of the first prejudgment information;
the amount of information representing the first anticipation information,
and representing the specific content corresponding to the first anticipation information.
Determining a threshold value based on fuzzy statistics of each object
E.g. 0.6, satisfies
The water discharge state is recognized.
As shown in fig. 6, an electric field signal sensed by the electric field sensor is input to an internal comparator of the single chip, when the electric field sensor is in a water output state, the electric field signal is an open circuit voltage between electrodes of the electric field sensor, the open circuit voltage is a long-time stable dc bias voltage and is close to a sensor power supply voltage, a comparison threshold voltage set by the internal comparator of the single chip is slightly lower than the sensor power supply voltage, at this time, the open circuit voltage enables the internal comparator of the single chip to be turned over, the single chip judges a duration after the turning over of the comparator, when a certain duration (for example, 10 seconds) is met, it is judged that the electric field sensor acquires a water output characteristic signal, and a judgment result is input to a rear-stage single chip comprehensive judgment system as an electric field signal criterion.
The magnetic field sensor is in an unstable state in the water outlet process and the floating state on the sea surface, when the movement displacement relative to the geomagnetic field is generated, strong electromotive force is generated in the induction coil, large-amplitude signal output is generated and is input into an internal comparator of the single chip microcomputer, the comparator is turned over, the single chip microcomputer judges the duration of the turning over of the comparator, when the duration (10 seconds) is met, the situation that the water outlet characteristic signal is collected by the magnetic field sensor is judged, and the judgment result is input into a rear-stage single chip microcomputer comprehensive judgment system as a magnetic field signal criterion.
Similarly, the signal of the azimuth sensor (magnetic compass) is input into the singlechip, when the change of the azimuth angle exceeds +/-4, the judgment is regarded as the water outlet process and the sea surface floating state, and the judgment result is input into the post-stage singlechip comprehensive judgment system.
The single chip microcomputer is used for comprehensive judgment, the electric field signal criterion, the magnetic field signal criterion and the azimuth angle signal criterion are considered as judgment bases with equal importance and equal contribution, and an equal weight identification method is adopted to take the threshold value as
And when the total membership degree exceeds the threshold value, judging that the electromagnetic exploration signal receiving device is drained.
For example, when the threshold is taken to be
When equal-weight identification is adopted, when only one of the electric field sensor signal, the magnetic field sensor signal and the azimuth sensor signal meets the water outlet condition, the total membership degree is 0.33, and the judgment threshold is not met; when two or more signals meet the water outlet condition, the total membership degree can reach more than 0.66, and the water outlet of the receiving device can be judged.
In conclusion, when the instrument cabin body discharges water, the automatic monitoring and identification of the water discharge state of the electromagnetic exploration receiving device are finally realized by utilizing the open-circuit voltage of the electric field sensor, the geomagnetic field interference signal output by the magnetic field sensor and the change of the azimuth angle through the comprehensive judgment of the multi-path comparator and the single chip microcomputer comprehensive control module in the single chip microcomputer.
The following describes the automatic monitoring device for accidental water discharge of the submarine electromagnetic exploration device provided by the invention, and the automatic monitoring device for accidental water discharge of the submarine electromagnetic exploration device described below and the automatic monitoring method for accidental water discharge of the submarine electromagnetic exploration device described above can be referred to correspondingly.
As shown in fig. 7, the present invention further provides an automatic monitoring device for accidental water discharge of a submarine electromagnetic surveying device, comprising:
the electric field sensor is used for acquiring information of the electric field sensor;
the magnetic field sensor is used for acquiring information of the magnetic field sensor;
the azimuth sensor is used for acquiring information of the azimuth sensor;
the multi-path comparator is used for respectively comparing the electric field sensor information, the magnetic field sensor information and the azimuth angle sensor information to obtain a preliminary comparison result;
the preliminary judgment module is used for comparing the preliminary analysis result with a first preset condition and taking the preliminary comparison result as first pre-judgment information under the condition that the comparison result meets the first preset condition;
the analysis module is used for carrying out secondary analysis on the first prejudgment information to obtain a second analysis result;
and the secondary judgment module is used for comparing the second analysis result with a second preset condition and determining whether the submarine electromagnetic exploration device is unexpected according to the comparison result.
Fig. 8 illustrates a physical structure diagram of an electronic device, and as shown in fig. 8, the electronic device may include: a processor (processor) 810, a communication interface 820, a memory 830 and a communication bus 840, wherein the processor 810, the communication interface 820 and the memory 830 communicate with each other via the communication bus 840. The processor 810 may invoke logic instructions in the memory 830 to perform a method of automatic unexpected water production monitoring for a subsea electromagnetic survey device, the method comprising:
respectively acquiring information of an electric field sensor, information of a magnetic field sensor and information of an azimuth angle sensor;
respectively comparing the information of the electric field sensor, the information of the magnetic field sensor and the information of the azimuth angle sensor to obtain a preliminary comparison result;
comparing the preliminary comparison result with a first preset condition, and taking the preliminary comparison result as first pre-judgment information under the condition that the comparison result meets the first preset condition;
performing secondary analysis on the first prejudgment information to obtain a second analysis result;
and comparing the second analysis result with a second preset condition, and determining whether the seabed electromagnetic exploration device produces water accidentally according to the comparison result.
In addition, the logic instructions in the memory 830 can be implemented in the form of software functional units and stored in a computer readable storage medium when the software functional units are sold or used as independent products. Based on such understanding, the technical solution of the present invention or a part thereof which substantially contributes to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
In another aspect, the present invention also provides a computer program product, which includes a computer program, which can be stored on a non-transitory computer readable storage medium, and when the computer program is executed by a processor, the computer can execute the method for automatically monitoring unexpected water coming out of a subsea electromagnetic surveying apparatus provided by the above methods.
In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method for automatic unexpected water-out monitoring of a subsea electromagnetic survey device provided by the above methods.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. An automatic monitoring method for accidental water outlet of a submarine electromagnetic exploration device is characterized by comprising the following steps:
respectively acquiring information of an electric field sensor, information of a magnetic field sensor and information of an azimuth angle sensor;
respectively comparing the information of the electric field sensor, the information of the magnetic field sensor and the information of the azimuth angle sensor to obtain a preliminary comparison result; the method specifically comprises the following steps: when the electric field sensor is in an underwater state, because seawater is a good conductor, the potential difference between the electric field sensor arrays is very small, and the output value is also small after passing through the self conditioning circuit; when the electric field sensors output water, the open-circuit voltage between the electric field sensors outputs the amplitude voltage of the saturation magnitude after passing through the conditioning circuit of the electric field sensors; taking a threshold voltage between underwater state voltage and water outlet state voltage, comparing the actually measured voltage of the electric field sensor with the threshold value during actual work, and obtaining a first sub item in the first prejudgment information when the actually measured voltage is greater than the threshold voltage; the magnetic field sensor also takes a comparison threshold value between the underwater stable state output voltage and the water floating change state voltage, when the magnetic field sensor works actually, the actually measured voltage of the magnetic field sensor is compared with the threshold value, and when the actually measured voltage is greater than the threshold value voltage, a second subentry in the first prejudgment information is obtained; the azimuth angle sensor also takes a comparison threshold value between the underwater stable state output voltage and the variation state voltage of the effluent floating rotation, the actually measured voltage of the azimuth angle sensor is compared with the threshold value during actual work, and when the actually measured voltage is greater than the threshold value voltage, a third sub-item in the first prejudgment information is obtained; whether the output signal amplitudes of the electric field sensor, the magnetic field sensor and the azimuth angle sensor exceed respective threshold values or not is used as a first preset condition;
taking the preliminary comparison result as first prejudgment information under the condition that the comparison result meets a first preset condition;
performing secondary analysis on the first prejudgment information to obtain a second analysis result; and multiplying the three sub-event of the first pre-judgment information by different pre-distributed proportional weights respectively, weighting, comparing the weighted result with a set threshold value of a higher level, so that the second analysis result is compared with a second preset condition, and determining whether the submarine electromagnetic exploration device produces water accidentally according to the comparison result to obtain a final judgment result.
2. The method according to claim 1, wherein the electric field sensor information, the magnetic field sensor information, and the azimuth sensor information are compared to obtain a preliminary comparison result:
comparing the electric field sensor information with a preset voltage threshold to obtain a voltage comparison result, comparing the magnetic field sensor information with a preset induced electromotive force threshold to obtain an induced electromotive force comparison result, and comparing the azimuth angle sensor information with a preset azimuth angle threshold to obtain an azimuth angle comparison result;
and respectively taking the voltage comparison result, the induced electromotive force comparison result and the azimuth angle comparison result as the preliminary comparison result.
3. The method for automatically monitoring unexpected water discharge of a submarine electromagnetic surveying device according to claim 2, wherein the step of comparing the preliminary comparison result with a first preset condition, and if the comparison result meets the first preset condition, the step of using the preliminary comparison result as first prejudgment information comprises:
comparing the voltage comparison result with a first threshold, and if the comparison result is greater than a second threshold and the duration of the second threshold is greater than a third threshold, prejudging that the electric field sensor acquires a water outlet characteristic signal;
the first threshold value refers to an intermediate value taken between the output signal amplitudes of the electric field sensor, the magnetic field sensor and the azimuth angle sensor in the underwater stable state and the water outlet unstable state respectively and used as a threshold value;
the second threshold value refers to a threshold value which is taken between an underwater state and an overwater state after the first layer of criterion is weighted according to different weights in proportion;
the third threshold is a time threshold which is preset to judge the duration time of the state in a stable state;
and taking the voltage comparison result as the first prejudgment information.
4. The method for automatically monitoring unexpected water discharge of a submarine electromagnetic surveying device according to claim 3, wherein the step of comparing the preliminary comparison result with a first preset condition, and if the comparison result meets the first preset condition, the step of using the preliminary comparison result as first prejudgment information comprises:
comparing the induced electromotive force comparison result with a fourth threshold, and if the induced electromotive force comparison result is greater than a fifth preset value and the duration of the fifth preset value is greater than the third threshold, prejudging that the magnetic field sensor acquires a water outlet characteristic signal;
and taking the induced electromotive force comparison result as the first pre-judgment information.
5. The method for automatically monitoring unexpected water discharge of a submarine electromagnetic surveying device according to claim 3, wherein the step of comparing the preliminary comparison result with a first preset condition, and if the comparison result meets the first preset condition, the step of using the preliminary comparison result as first prejudgment information comprises:
comparing the azimuth angle comparison result with a sixth threshold value, and if the comparison result is greater than a seventh threshold value and the duration of the seventh threshold value is greater than the third threshold value, prejudging that the azimuth angle sensor acquires a water outlet characteristic signal;
and taking the water outlet characteristic signal as the first prejudgment information.
6. The method for automatically monitoring unexpected water discharge of a subsea electromagnetic surveying device according to claim 3, 4, or 5, wherein said analyzing the first predetermined information for the second time to obtain the second analysis result comprises:
processing the first prejudgment information by adopting the following formula to obtain a second analysis result:
wherein, the first and the second end of the pipe are connected with each other,
representing the total membership degree, and taking the total membership degree as the second analysis result;
representing the membership degree of the first prejudgment information;
the amount of information representing the first anticipation information,
and representing the specific content corresponding to the first anticipation information.
7. The method for automatically monitoring unexpected water discharge of a subsea electromagnetic surveying device of claim 6, wherein said analyzing the first predetermined information a second time to obtain a second analysis result comprises:
and comparing the total membership degree with a preset membership degree threshold value, and identifying the water outlet state if the comparison result is within the membership degree threshold value range.
8. An unexpected automatic monitoring device that goes out water of seabed electromagnetic surveying device which characterized in that includes:
the electric field sensor is used for acquiring information of the electric field sensor;
the magnetic field sensor is used for acquiring information of the magnetic field sensor;
the azimuth sensor is used for acquiring azimuth sensor information;
the multi-path comparator is used for respectively comparing the electric field sensor information, the magnetic field sensor information and the azimuth angle sensor information to obtain a preliminary comparison result;
the preliminary judgment module is used for comparing a preliminary analysis result with a first preset condition and taking the preliminary comparison result as first pre-judgment information under the condition that the comparison result meets the first preset condition;
the analysis module is used for carrying out secondary analysis on the first prejudgment information to obtain a second analysis result;
and the secondary judgment module is used for comparing the second analysis result with a second preset condition and determining whether the seabed electromagnetic exploration device produces water accidentally or not according to the comparison result.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements a method for automatic monitoring of unexpected water output for a subsea electromagnetic surveying apparatus according to any one of claims 1 to 7.
10. A non-transitory computer readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor implements a method for automatic monitoring of unexpected water outflow from a subsea electromagnetic surveying arrangement according to any of claims 1 to 7.
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