Water depth detection device and vehicle and vehicle wading depth detection method

Abstract

The application discloses a water depth detection device and vehicle and a vehicle wading depth detection method. The water depth detection device comprises a sensor assembly, the sensor assembly comprising a differential pressure sensor and a wading pipeline, a first end of the differential pressure sensor being in communication with a first end of the wading pipeline, a second end of the differential pressure sensor being in communication with external air and being formed with an air interface, a second end of the wading pipeline being a wading interface, a plane where the wading interface of the wading pipeline is located being higher than a plane where the air interface is located, and the differential pressure sensor being used for detecting a pressure difference between pressure in the wading pipeline and external air pressure. A first calculation module is used for calculating a wading depth according to the pressure difference, water density and a vertical distance from the wading interface of the wading pipeline to the ground. The water depth detection device has low cost and can detect the depth of muddy water.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automobile technology, in particular to a water depth detection device, a vehicle and a vehicle water depth detection method. BACKGROUND

[0002] People are greatly facilitated by using vehicles to walk in rainy days, but when heavy rain comes in summer, water accumulation often occurs on roads, and if a vehicle passes through a deep water area, the water depth will exceed the water line height of the vehicle, causing damage to the vehicle's electrical appliances, and even the vehicle will stall in the water, so it is necessary for the vehicle owner to know the water depth when passing through the water accumulation section.

[0003] Common water depth measurement methods include laser measurement, LED measurement, and ultrasonic measurement. The three schemes of laser measurement, LED measurement, and ultrasonic measurement have the advantage of high measurement accuracy, but the vehicle using LED measurement will cover the surface of the transmitter and receiver when passing through the mud, resulting in the inapplicability of LED measurement, and ultrasonic measurement and laser measurement are expensive, resulting in high cost of vehicles using ultrasonic measurement and laser measurement. Therefore, there is a need in the art to design a water depth detection device that not only has low cost but also can detect the water depth of the vehicle in the mud. SUMMARY

[0004] The present application aims to at least solve one of the technical problems in the related art to some extent.

[0005] To this end, the present application provides a water depth detection device that not only has low cost but also can detect the depth of mud.

[0006] The water depth detection device according to the embodiments of the present application comprises a sensor assembly, the sensor assembly comprising a differential pressure sensor and a water wading pipeline, a first end of the differential pressure sensor being in communication with a first end of the water wading pipeline, a second end of the differential pressure sensor being in communication with external air and forming an air interface, a second end of the water wading pipeline being a water wading interface, a plane where the water wading interface of the water wading pipeline is located being higher than a plane where the air interface is located, the differential pressure sensor being used to detect the pressure difference between the pressure in the water wading pipeline and the external air pressure; a first calculation module, the first calculation module being used to calculate the water wading depth according to the pressure difference, the density of water, and the vertical distance from the water wading interface of the water wading pipeline to the ground.

[0007] The water depth detection device according to the embodiments of the present application not only has low cost but also can detect the depth of mud when in use.

[0008] In some embodiments, the differential pressure sensor is connected to the first calculation module in sequence through an analog front end and a CAN converter.

[0009] In some embodiments, the water depth detection device further comprises a water density detection module, the water density detection module comprising: an electrode pair arranged on the outer wall of the wading pipeline; a signal acquisition unit for detecting whether the electrode pair is on or off and sending the on-off signal of the electrode pair; and a second calculation module for calculating the density of water according to the on-off signal of the electrode pair, the vertical distance from the wading interface of the wading pipeline to the electrode pair, and the pressure difference when water reaches the electrode pair, and for transmitting the water density signal to the first calculation module.

[0010] In some embodiments, the signal acquisition unit comprises: a first current limiter; an excitation source circuit comprising an excitation source, a second current limiter, and a third current limiter connected in series, an electrode line being led out on the line between the second current limiter and the third current limiter, the electrode line being connected to a second electrode in the electrode pair, the excitation source being electrically connected to the third current limiter through the second calculation module, the first electrode being electrically connected to the negative electrode of the excitation source through the first current limiter, and the second calculation module being capable of acquiring the change signal of the voltage or current of the excitation source circuit, the change signal being the on-off signal.

[0011] In some embodiments, the electrode pair has a plurality of electrode pairs arranged on the outer wall of the wading pipeline.

[0012] In some embodiments, the sensor assembly further comprises an air pipeline, a first end of the air pipeline being connected to the second end of the pressure difference sensor, a second end of the air pipeline forming the air interface, the air interface being provided with a filter screen, and the air interface being in communication with the external air through the filter screen.

[0013] In some embodiments, the wading interface is provided with a second filter screen, and the wading interface is in communication with the external air through the second filter screen.

[0014] In some embodiments, the wading pipeline comprises a wading hose and a wading hard pipe, a first end of the wading hose being in communication with the first end of the pressure difference sensor, a second end of the wading hose being in communication with a first end of the wading hard pipe, a second end of the wading hard pipe forming the wading interface, and the electrode pair being arranged on the outer wall of the wading hard pipe.

[0015] The present application also provides a vehicle with the above water depth detection device, comprising a vehicle comprising a water depth detection device, the water depth detection device being any of the water depth detection devices described in the above embodiments.

[0016] In some embodiments, the water depth detection device has two sets, one of which is arranged at the front of the vehicle, and the other of which is arranged at the rear of the vehicle.

[0017] In some embodiments, the vehicle further comprises a display for displaying the wading depth value calculated by the first calculation module.

[0018] The present application also provides a vehicle wading depth detection method, comprising the following steps: detecting the pressure difference between the wading pipe pressure and the external air pressure by using a differential pressure sensor; and calculating the wading depth when the pressure difference is greater than zero, wherein the value of the wading depth can be calculated by the following formula:

[0019]

[0020] In the formula: is the wading depth, is the pressure of the wading pipe, is the external air pressure, is the density of water, is the acceleration of gravity, is the vertical distance from the wading interface of the wading pipe to the ground.

[0021] In some embodiments, the vehicle wading depth detection method further comprises the following steps: obtaining the water level height when water reaches the electrode pair by using a plurality of electrode pairs; and calculating a plurality of water densities corresponding to the plurality of electrode pairs submerged in water, wherein each water density value of the plurality of water densities is calculated by the following formula:

[0022]

[0023] In the formula: is the density of water, is the pressure of the wading pipe corresponding to the electrode pair, is the external air pressure, is the depth of the wading pipe submerged in water corresponding to the electrode pair, is the acceleration of gravity.

[0024] Subtracting the value of the standard water density from the values of the plurality of water densities to obtain a plurality of difference values; comparing the plurality of difference values with a set low error threshold value and a set high error threshold value, respectively, to obtain one or more water densities corresponding to the difference values between the first error threshold value and the second error threshold value; and taking the average value of the one or more water densities as the water density value for calculating the wading depth.

[0025] In some embodiments, the vehicle wading depth detection method further comprises the following steps: when the water reaches the bottom end of the wading pipeline, prompting the vehicle of the wading depth; comparing the wading depth with the preset water depth threshold, and sending corresponding warning information to the vehicle according to the warning level reached by the wading depth. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 is a schematic diagram of a water depth detection device according to an embodiment of the present application.

[0027] Figure 2 is a schematic diagram of the installation of an electrode pair on a wading hard pipe according to an embodiment of the present application.

[0028] Figure 3 is a signal processing link diagram according to an embodiment of the present application.

[0029] Figure 4 is a schematic diagram of a water depth detection device installed on a car according to an embodiment of the present application.

[0030] Reference signs:

[0031] Vehicle 200;

[0032] Water depth detection device 100;

[0033] Sensor assembly 1;

[0034] Differential pressure sensor 11; first end 111 of the differential pressure sensor; second end 112 of the differential pressure sensor;

[0035] Wading pipeline 12;

[0036] Wading soft pipe 121; wading hard pipe 122;

[0037] Air pipeline 13;

[0038] Analog front end 2;

[0039] CAN converter 3;

[0040] Computer 4;

[0041] First calculation module 41; second calculation module 42;

[0042] Water density detection module 5;

[0043] Excitation source 51; first current limiter 52; second current limiter 53; third current limiter 54; electrode pair 55; second electrode 551; first electrode 552;

[0044] Display 6;

[0045] Water area 7. DETAILED DESCRIPTION

[0046] Embodiments of the present application are described below in detail, examples of which are shown in the accompanying drawings. The embodiments described below by reference to the drawings are exemplary and are intended to explain the present application, and cannot be understood as a limitation of the present application.

[0047] The water depth detection device 100 of the embodiments of the present application comprises a sensor assembly 1, the sensor assembly 1 comprising a differential pressure sensor 11 and a wading pipeline 12, a first end 111 of the differential pressure sensor 11 being in communication with a first end of the wading pipeline 12, a second end of the differential pressure sensor 11 being in communication with external air and being formed with an air interface, a second end of the wading pipeline 12 being a wading interface, a plane where the wading interface of the wading pipeline 12 is located being higher than a plane where the air interface is located, the differential pressure sensor 11 being used to detect a pressure difference between a pressure in the wading pipeline 12 and an external air pressure; a first calculation module 41, the first calculation module 41 being used to calculate a wading depth according to the pressure difference, a density of water and a vertical distance from the wading interface of the wading pipeline 12 to the ground.

[0048] If water does not reach the wading interface of the wading pipeline 12, the air pressure at the first end 111 and the second end 112 of the differential pressure sensor 11 is the same, and the water depth detection device 100 does not prompt a water depth height; if water is higher than the wading interface of the wading pipeline 12, the pressure difference between the first end 111 and the second end 112 of the differential pressure sensor 11 is greater than zero, at this time the differential pressure sensor 11 outputs a pressure difference signal, the pressure difference signal is transmitted to the first calculation module 41, and the first calculation module 41 can further calculate the wading depth. The wading depth can be calculated by the following formula:

[0049]

[0050] In the formula: is the wading depth, is the pressure of the wading pipeline 12, is the external air pressure, is the density of water, is the gravitational acceleration, is the vertical distance from the wading interface of the wading pipeline 12 to the ground.

[0051] Since the water depth detection device 100 calculates the wading depth by detecting the pressure difference between the pressure in the wading pipeline 12 and the external air pressure, the water depth detection device 100 can detect the wading depth regardless of the turbidity of the water, and at the same time, the water depth detection device 100 also has the characteristics of low cost.

[0052] In order to enable the first calculation module 10 to effectively receive the pressure difference signal of the differential pressure sensor 11, in some embodiments, the differential pressure sensor 11 is sequentially connected with the first calculation module 41 through the analog front end 2 and the CAN converter 3.

[0053] In some embodiments, the water depth detection device 100 further comprises: a water density detection module, the water density detection module comprising: an electrode pair 55, the electrode pair 55 being arranged on the outer peripheral wall of the wading pipeline 12; a signal acquisition unit, the signal acquisition unit being configured to detect whether the electrode pair 55 is on or off and send an on-off signal of the electrode pair 55; and a second calculation module 42, the second calculation module 42 being configured to calculate the density of the water according to the on-off signal of the electrode pair 55, the vertical distance from the wading interface of the wading pipeline 12 to the electrode pair 55, and the pressure difference when the water reaches the electrode pair 55, and configured to transmit the density signal of the water to the first calculation module 41.

[0054] It should be noted that the first calculation module 41 and the second calculation module 42 can be located in the same computer or in different computers, and the present application does not make any limitation, and preferably the first calculation module 41 and the second calculation module 42 are located in the same computer 4.

[0055] Since the density of the wading water can be different, in order to improve the detection accuracy of the wading depth, it is necessary to calibrate the density of the wading water. The density of the water can be obtained in the following manner: when the water reaches the electrode pair 55, the voltage or current of the circuit where the signal acquisition unit is located will change with the on-off of the electrode pair 55. The change signal of the voltage or current of the circuit is the on-off signal. In this way, it can be detected whether the water reaches the preset position of the electrode pair 55, and further the depth of the water over the wading interface of the wading pipeline 12 corresponding to the electrode pair 55 can be detected. At the same time, the pressure difference sensor 11 will detect the pressure difference of the wading pipeline 12 and the external air pressure when the water reaches the electrode pair 55. The second calculation module 42 can calculate the density of the water according to the depth of the water over the wading interface of the wading pipeline 12 corresponding to the electrode pair 55, the pressure difference of the wading pipeline 12 and the external air pressure when the water reaches the electrode pair 55, through the following formula:

[0056]

[0057] In the formula: ρ is the density of the water, P is the pressure of the wading pipeline 12 corresponding to the electrode pair 55, P0 is the external air pressure, h is the depth of the water over the wading interface of the wading pipeline 55 corresponding to the electrode pair 55, g is the acceleration of gravity.

[0058] In some embodiments, the signal acquisition unit comprises: a first current limiter 52; an excitation source circuit comprising an excitation source 51, a second current limiter 53, and a third current limiter 54 connected in series; an electrode line connected between the second current limiter 53 and the third current limiter 54 and connected to a second electrode 552 of the electrode pair 55; the excitation source 51 and the third current limiter 54 are electrically connected through the second calculation module 42; the first electrode 551 of the electrode pair 55 is electrically connected to the negative electrode of the excitation source 51 through the first current limiter 52; the second calculation module 42 can acquire the change signal of the voltage or current of the excitation source circuit, and the change signal is the on-off signal.

[0059] When the electrode pair 55 is not submerged in water, the second calculation module 42 receives a first level signal; when the electrode pair 55 is submerged in water, the electrode pair 55 is turned on, and the second calculation module 42 receives a second level signal; the signal changing from the first level signal to the second level signal is the on-off signal, and the second calculation module 42 can further obtain the depth of the water submerging the wading interface of the wading pipeline 12 corresponding to the electrode pair 55 according to the on-off signal.

[0060] In some embodiments, the electrode pair has a plurality of electrode pairs arranged on the outer circumferential wall of the wading pipeline. Figure 2 As shown, when the water waded by the vehicle 100 gradually submerges the plurality of electrode pairs 55, the plurality of electrode pairs 55 are sequentially connected from bottom to top, the second calculation module 42 can acquire a plurality of depths of the water submerging the second end of the wading pipeline 12 corresponding to the electrode pair 55, and a plurality of pressure differences between the pressure of the wading pipeline 12 when the water reaches the electrode pair 55 and the external air pressure, and the second calculation module 42 can further calculate a plurality of densities of the water.

[0061] In some embodiments, the sensor assembly 1 further comprises an air pipeline 13, the first end of the air pipeline 13 is connected to the second end of the pressure difference sensor 11, the second end of the air pipeline 13 forms an air interface, the air interface is provided with a first filter screen, and the air interface is connected to the external air through the first filter screen. In this way, the first filter screen can prevent mosquitoes and sundries from entering the air pipeline 13, and ensure the detection accuracy of the pressure difference sensor 11.

[0062] In some embodiments, the wading interface is provided with a second filter screen, and the wading interface is connected to the external air through the second filter screen. In this way, the wading interface can prevent sundries in the water from blocking the wading pipeline 12 when it is immersed in the water, and at the same time, the wading interface can prevent mosquitoes from entering the wading pipeline when it is not immersed in the water, thereby ensuring the detection accuracy of the pressure difference sensor 11.

[0063] In some embodiments, the wading pipeline 12 comprises a wading hose 121 and a wading hard pipe 122, a first end of the wading hose 121 is in communication with the first end of the differential pressure sensor 11, a second end of the wading hose 121 is in communication with a first end of the wading hard pipe 122, a second end of the wading hard pipe 122 forms a wading interface, and the electrode pair 55 is arranged on an outer circumferential wall of the wading hard pipe 122. In this way, the differential pressure sensor 11 can be flexibly arranged relative to the wading hard pipe 122 through the easily deformable wading hose 121, and at the same time, since the wading hard pipe 122 is not easily deformed in material, the wading hard pipe 122 can always maintain communication with the outside when the wading hard pipe 122 is impacted by water, so that the water depth detection device 100 of the vehicle 100 is prevented from being affected by water impact, and the detection accuracy is ensured.

[0064] The present application also provides a vehicle 200 with the above water depth detection device 100, the vehicle 200 comprising the water depth detection device 100, and the water depth detection device 100 is any one of the water depth detection devices 100 in the above embodiments.

[0065] It should be noted that the specific position of the wading interface of the wading pipeline 12 on the vehicle 200 is not limited in the present application, for example, the wading interface can be arranged on the vehicle body, or can be arranged on the chassis, and the wading interface can be flush with the chassis, or can be located below the chassis.

[0066] The vehicle 200 of the embodiment of the present application has the above water depth detection device 100, so the vehicle 200 not only has low cost, but also can detect the wading depth of the vehicle 200 in mud.

[0067] In some embodiments, the water depth detection device 100 has two sets, one of the two sets of water depth detection devices 100 is arranged at the front of the vehicle 200, and the other of the two sets of water depth detection devices 100 is arranged at the rear of the vehicle 200. In this way, the two sets of water depth detection devices 100 can detect the wading depth of the vehicle 200 when climbing and descending a slope, and reflect the maximum wading depth of the front or rear of the vehicle 200.

[0068] In order to facilitate the vehicle owner to check the wading depth of the vehicle 200, in some embodiments, the vehicle 200 further comprises a display 6, and the display 6 is used to display the wading depth value calculated by the first calculation module 41.

[0069] The present application also provides a vehicle wading depth detection method, the vehicle wading depth detection method comprising the following steps: detecting the pressure difference between the pressure of the wading pipeline 12 and the external air pressure by using the differential pressure sensor 11; and calculating the wading depth when the pressure difference is greater than zero, wherein the numerical value of the wading depth can be calculated by the following formula:

[0070]

[0071] In the formula, is a water depth, is a pressure of the wading pipe, is an external air pressure, is a water density, is a gravity acceleration, is a vertical distance from a wading interface of the wading pipe to the ground.

[0072] The vehicle wading depth detection method of the embodiment of the application can detect the wading depth of the vehicle 200 in the muddy water, and can eliminate the influence of the altitude on the detection accuracy.

[0073] In some embodiments, the vehicle wading depth detection method further comprises the following steps: obtaining the water level height when the water reaches the electrode pair by the multiple electrode pairs; calculating multiple water densities corresponding to the multiple electrode pairs submerged by the water, wherein each water density value of the multiple water densities is calculated by the following formula:

[0074]

[0075] In the formula: is a water density, is a pressure of the wading pipe corresponding to the electrode pair, is an external air pressure, is a depth of the wading pipe submerged by the water corresponding to the electrode pair, is a gravity acceleration;

[0076] Subtracting the value of the multiple water densities from the value of the standard water density to obtain multiple difference values; comparing the multiple difference values with the set low error threshold value and the set high error threshold value respectively to obtain one or more water densities corresponding to the difference values between the first error threshold value and the second error threshold value; and taking the average value of the one or more water densities as the water density value for calculating the wading depth.

[0077] The embodiment of the application can effectively reduce the detection error and improve the water depth detection accuracy by filtering the abnormal values of the multiple water densities and averaging the normal values of the filtered water densities.

[0078] It can be understood that when the water does not submerge the lowermost electrode pair 55, the preset water density value can be used as the water density value for calculating the wading depth, so as to calculate the wading depth value of the vehicle 200.

[0079] In some embodiments, the vehicle wading depth detection method further comprises the following steps: prompting the vehicle 200 of the wading depth when the water submerges the bottom end of the wading pipeline 12; comparing the wading depth with a preset water depth threshold, and issuing corresponding warning information to the vehicle according to the warning level reached by the wading depth. Thus, the danger situation corresponding to the wading depth of the vehicle 200 can be judged by checking the warning information corresponding to the warning level.

[0080] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0081] In addition, the terms "first" and "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first" and "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically limited.

[0082] In the present application, unless otherwise specifically defined and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrated; it can be mechanical connection, or electrical connection or communication with each other; it can be directly connected, or indirectly connected through an intermediate medium, or the internal communication of two elements or the interaction relationship between two elements, unless otherwise specifically limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0083] In the present application, unless otherwise specifically defined and limited, the first feature is "on" or "under" the second feature, which can be direct contact between the first and second features, or indirect contact between the first and second features through an intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be directly above or obliquely above the first feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be directly below or obliquely below the first feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0084] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Also, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. Furthermore, the person skilled in the art can combine and combine the different embodiments or examples described in the present specification and the features of the different embodiments or examples, without contradiction.

[0085] Although the embodiments of the present application have been shown and described above, it is understood that the above-described embodiments are exemplary and are not to be construed as limiting the present application, and the person skilled in the art can make changes, modifications, replacements and variations to the above-described embodiments within the scope of the present application.

Claims

1. A water depth detecting device, characterized by, The water depth detection device comprises: a sensor assembly, the sensor assembly comprising a differential pressure sensor and a wading pipeline, a first end of the differential pressure sensor being in communication with a first end of the wading pipeline, a second end of the differential pressure sensor being in communication with external air and forming an air interface, a second end of the wading pipeline being a wading interface, a plane where the wading interface of the wading pipeline is located being higher than a plane where the air interface is located, the differential pressure sensor being used to detect a differential pressure between a pressure in the wading pipeline and a pressure of the external air; a first calculation module, the first calculation module being used to calculate a wading depth according to the differential pressure, a density of water and a vertical distance from the wading interface of the wading pipeline to the ground; a water density detection module, the water density detection module comprising: a plurality of electrode pairs, the plurality of electrode pairs being distributed in sequence from bottom to top, the plurality of electrode pairs being arranged on an outer peripheral wall of the wading pipeline; a signal acquisition unit, the signal acquisition unit being used to detect whether the electrode pairs are on or off and send on-off signals of the electrode pairs; a second calculation module, the second calculation module being used to calculate the density of water according to the on-off signals of the electrode pairs, a vertical distance from the wading interface of the wading pipeline to the electrode pairs and a differential pressure when water reaches the electrode pairs, and being used to transmit the density signal of water to the first calculation module.

2. The water depth detecting device according to claim 1, wherein The signal acquisition unit comprises: a first current limiter; an excitation source circuit, the excitation source circuit comprising an excitation source, a second current limiter and a third current limiter connected in sequence, an electrode line being led out on a line between the second current limiter and the third current limiter, the electrode line being connected with a second electrode in the electrode pairs, the excitation source being electrically connected with the third current limiter through the second calculation module, a first electrode being electrically connected with a negative electrode of the excitation source through the first current limiter, the second calculation module being capable of acquiring a change signal of voltage or current of the excitation source circuit, the change signal being the on-off signal.

3. The water depth detecting device according to claim 1, wherein The sensor assembly further comprises an air pipeline, a first end of the air pipeline being connected with the second end of the differential pressure sensor, a second end of the air pipeline forming the air interface.

4. The water depth detecting device according to claim 3, wherein The air interface is provided with a first filter screen, and the air interface is in communication with external air through the first filter screen.

5. The water depth detecting device according to claim 4, wherein The wading pipeline comprises a wading hose and a wading hard pipe, a first end of the wading hose being in communication with the first end of the differential pressure sensor, a second end of the wading hose being in communication with a first end of the wading hard pipe, a second end of the wading hard pipe forming the wading interface, and the electrode pairs being arranged on an outer peripheral wall of the wading hard pipe.

6. A vehicle characterized by comprising: The water depth detection device comprises a water depth detection device according to any one of claims 1-5.

7. The vehicle of claim 6, wherein The water depth detection device has two sets, one of the two sets of water depth detection devices being arranged at a front of the vehicle, and the other of the two sets of water depth detection devices being arranged at a rear of the vehicle.

8. A method for detecting a water depth of a vehicle, using the water depth detecting device according to any one of claims 1 to 5, characterized by, The water depth detection device comprises the following steps: detecting, by a differential pressure sensor, a differential pressure between a pressure in a wading pipeline and a pressure of external air; when the differential pressure is greater than zero, calculating a wading depth, wherein a value of the wading depth can be calculated by the following formula: wherein: is the wading depth, is the pressure in the wading conduit, is the pressure of the outside air, is the density of the water, is the acceleration of gravity, is the vertical distance from the wading interface of the wading conduit to the ground.

9. The vehicle wade depth detection method of claim 8, wherein, Further comprising the steps of: acquiring water level heights of the water at the electrode pairs by the plurality of electrode pairs; calculating a plurality of water densities corresponding to the plurality of electrode pairs submerged by the water, wherein each water density value of the plurality of water densities is calculated by the following formula: wherein: is the density of water, is the pressure of the water involving pipe corresponding to the electrode pair, is the external air pressure, is the depth of the water involving pipe submerged by water corresponding to the electrode pair, is the gravitational acceleration; subtracting the water density value of the standard water from the water density values of the plurality of water densities to obtain a plurality of difference values; comparing the plurality of difference values with a set low error threshold value and a set high error threshold value respectively to obtain one or more water densities corresponding to the difference values between the first error threshold value and the second error threshold value; using an average value of the one or more water densities as a water density value for calculating the water depth.

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