Ship drainage automatic detection system

Abstract

The invention relates to the field of ship detection, in particular to an automatic ship drainage detection system, which is provided with a sensor group comprising an inertial sensor arranged in a cabin and used for detecting the swinging amplitude and the swinging direction of the cabin and vibration sensors arranged at a plurality of positions of a pipeline at intervals and used for detecting vibration signals; the interference tendency determiner is used for calculating a noise interference characterization coefficient based on the cabin shaking amplitude and the density of the pipelines in the different areas so as to divide the noise interference tendencies of the pipelines in the different areas; the data filter is used for adaptively screening data acquired by the vibration sensor arranged on the regional pipeline based on the noise interference tendency of the regional pipeline; the early warning device is used for converting the screened vibration signals into frequency domain vibration signals, and whether early warning signals are sent out or not is judged on the basis of signal amplitudes in different frequency domain sections.By detecting the influence of environmental factors on the ship body in the drainage process, an alarm is given out in time for abnormal conditions, and the drainage stability and safety are guaranteed.

Description

Technical Field

[0001] The invention relates to the field of ship detection, and in particular to an automatic ship drainage detection system. Background Art

[0002] The displacement of a ship directly affects its center of gravity and stability. If the drainage is not smooth and there is too much water in the cabin, the weight of the ship will increase and the center of gravity will rise, thereby reducing the stability of the ship and increasing the risk of the ship capsizing. Especially in severe sea conditions, the violent shaking of the ship may cause air to be sucked into the suction end of the drainage pump, resulting in cavitation and affecting the normal operation of the pump; at the same time, the shaking of the ship may also loosen the pipe joints and increase the risk of leakage. For example, when the ship's roll angle is too large, the water level at the bottom of the bilge fluctuates violently and the pump suction is unstable. Therefore, the stability of the ship is of vital importance. Timely detection of drainage conditions and ensuring that the accumulated water in the cabin can be discharged in time will help maintain the safe stability range of the ship and protect the life and property of the ship and crew.

[0003] Chinese patent publication number: CN116873101A, discloses a ship water volume monitoring and self-drainage system, including: a monitoring terminal, the monitoring terminal is configured to monitor the water level in different areas of the ship in real time, the monitoring terminal is equipped with a water level sensor, and the water level sensor is installed in different areas of the ship; an automatic drainage module, the automatic drainage module is configured to automatically start the drainage valve when drainage is needed according to the upper water level threshold; a leakage detection module, the leakage detection module is equipped with a leakage detection device for monitoring the leakage position inside the ship, and the leakage detection device is installed at a key position of the ship. The invention cooperates with the leakage detection module and the automatic drainage module. When the water level in the ship exceeds the safe position or a leakage occurs, the water inside the ship is automatically drained to discharge the accumulated water, keep the ship stable and the working environment dry, and avoid the internal structure and equipment of the ship from being soaked and damaged.

[0004] However, there are still the following problems in the prior art:

[0005] During the ship's drainage process, environmental factors such as rainfall and waves may cause the hull to shake, reducing the stability of the hull, and then introducing noise, reducing the accuracy and reliability of liquid leakage detection in the drainage pipe. Summary of the invention

[0006] To this end, the present invention provides an automatic detection system for ship drainage, which is used to overcome the problem in the prior art that during the ship drainage process, environmental factors such as rainfall and waves may cause the hull to bump, reduce the stability of the hull, and further introduce noise, thereby reducing the accuracy and reliability of liquid leakage detection in the drainage pipe.

[0007] To achieve the above object, the present invention provides a ship drainage automatic detection system, which comprises:

[0008] A sensor group, comprising an inertial sensor arranged in the cabin for detecting the cabin shaking amplitude and shaking direction, and a vibration sensor arranged at intervals at several positions of the pipeline for detecting vibration signals;

[0009] An interference tendency determiner, which is connected to the sensor group and is used to calculate a noise interference characterization coefficient based on the cabin swaying amplitude and the density of pipelines in different areas, so as to classify the noise interference tendency of pipelines in different areas;

[0010] A data filter, which is connected to the interference tendency determiner and the sensor group respectively, is used to filter the data collected by the vibration sensor set on the regional pipeline based on the noise interference tendency of the regional pipeline, including:

[0011] Determine the interference time node based on the change moment of the shaking direction, determine the strong interference time domain segment based on the interference time node, eliminate the strong interference time domain segment, verify whether the discreteness of the vibration signal intensity collected by the vibration sensor in the remaining time domain segments within the cycle meets the standard, and filter out the vibration signal in the time domain segment that meets the standard;

[0012] Or, based on the shaking amplitude, a stable characterization time domain segment is selected to select the vibration signal collected by the vibration sensor within the stable characterization time domain segment;

[0013] An early warning device is connected to the data filter and is used to convert the filtered vibration signal into a frequency domain vibration signal, and determine whether to issue an early warning signal based on the amplitude of the vibration signal in different frequency domain segments.

[0014] Furthermore, the interference tendency determiner is used to calculate the noise interference characterization coefficient based on the cabin swaying amplitude and the density of pipelines in different areas, including:

[0015] The ratio of the cabin shaking amplitude to the cabin shaking amplitude threshold is used as the first noise interference feature;

[0016] Using the ratio of the density of the pipelines to the density threshold of the pipelines as a second noise interference feature;

[0017] Used to determine the sum of the first noise interference feature and the second noise interference feature as the noise interference characterization coefficient.

[0018] Furthermore, the interference tendency determiner is used to divide the noise interference tendency of pipelines in different areas based on the noise interference characterization coefficient, including:

[0019] If the noise interference characterization coefficient is greater than or equal to the noise interference characterization coefficient threshold, the noise interference of the pipeline in the area is determined to be a high tendency category;

[0020] If the noise interference characterization coefficient is less than the noise interference characterization coefficient threshold, the noise interference of the pipeline in the area is determined to be a low tendency category.

[0021] Furthermore, the data filter is used to filter the data collected by the vibration sensor set on the regional pipeline, including:

[0022] If the noise interference of the regional pipeline is of the high tendency category, the interference time node is determined based on the change moment of the shaking direction, the strong interference time domain segment is determined based on the interference time node, the strong interference time domain segment is eliminated, and the discreteness of the vibration signal intensity collected by the vibration sensor in the remaining time domain segments within the cycle is verified to meet the standard, and the vibration signal in the time domain segment that meets the standard is screened out;

[0023] If the noise interference of the regional pipeline is of the low tendency category, the stable characterization time domain segment is screened based on the shaking amplitude, and the vibration signal collected by the vibration sensor within the stable characterization time domain segment is screened out.

[0024] Furthermore, the data filter is used to determine the interference time node based on the change moment of the shaking direction, and determine the strong interference time domain segment based on the interference time node, including:

[0025] To obtain the shaking direction collected by the inertial sensor;

[0026] It is used to determine the moment when the shaking direction of the cabin changes as the interference time node;

[0027] Used to extend forward 0.1s and backward 0.1s based on the moment corresponding to the interference time node;

[0028] It is used to determine the time period formed by extending the corresponding time as a strong interference time domain period.

[0029] Furthermore, the data filter is used to determine the discreteness of the intensity of the vibration signal collected by the vibration sensor in the remaining time domain segment within the cycle, including:

[0030] Used to calculate the variance of the vibration signal strength.

[0031] Furthermore, the data filter is used to verify whether the discreteness of the vibration signal intensity collected by the vibration sensor in the remaining time domain segment within the cycle meets the standard, including:

[0032] If there is a time domain segment where the variance of the vibration signal strength is greater than or equal to the variance threshold, it is determined that the time domain segment meets the standard.

[0033] Furthermore, the data filter is used to filter the stable characterization time domain segment based on the shaking amplitude, including:

[0034] If the shaking amplitude in a time domain segment is smaller than the shaking amplitude threshold, the time domain segment is determined to be a stable representation time domain segment.

[0035] Furthermore, the early warning device is used to convert the screened vibration signal into a frequency domain vibration signal, including:

[0036] It is used to convert the vibration signal in the time domain segment into the frequency domain for analysis based on the wavelet method to obtain the vibration signal data in different frequency domain segments.

[0037] Furthermore, the warning device is used to determine whether to issue a warning signal based on the amplitude of the vibration signal in different frequency domain segments, including:

[0038] If the vibration signal amplitude within the frequency domain segment is greater than or equal to the vibration signal amplitude threshold of the frequency domain segment, an early warning signal is issued.

[0039] Compared with the prior art, the sensor group provided in the present invention includes an inertial sensor arranged in the cabin for detecting the cabin shaking amplitude and shaking direction, and a vibration sensor arranged at intervals at several positions of the pipeline for detecting vibration signals; an interference tendency determiner is used to calculate the noise interference characterization coefficient based on the cabin shaking amplitude and the density of pipelines in different areas, so as to divide the noise interference tendency of pipelines in different areas; a data filter is used to adaptively filter the data collected by the vibration sensors arranged on the regional pipelines based on the noise interference tendency of the regional pipelines; an early warning device is used to convert the filtered vibration signals into frequency domain vibration signals, and determine whether to issue an early warning signal based on the signal amplitudes in different frequency domain segments. The present invention detects the influence of environmental factors on the hull during the drainage process, and promptly gives an alarm for abnormal situations, thereby ensuring the smoothness and safety of drainage.

[0040] In particular, the present invention calculates the noise interference characterization coefficient by the shaking amplitude of the cabin and the density of pipes in different areas. During the drainage process of the ship, some environmental factors, such as rainfall in bad weather and excessive wind, may affect the stability of the ship in transit, which may lead to a decrease in the smoothness of the liquid flow in the pipe. For example, when the ship is disturbed and shakes, the area with densely distributed pipes is more seriously affected. Therefore, the present application characterizes the degree to which the stability of pipes in each area is likely to be disturbed by calculating the noise interference characterization coefficient, so as to provide data support for the subsequent division of the noise interference tendency of pipes in different areas, so as to adaptively screen the data collected by the vibration sensors installed on the regional pipes.

[0041] In particular, the present invention eliminates the time domain segments with strong interference and detects whether the discreteness of the vibration signal intensity of the remaining time domain segments in the cycle meets the standard. During the normal navigation of the ship, during the time period when the direction of the cabin changes, the liquid flowing inside the pipeline will also produce large fluctuations and directional deviations, resulting in abnormalities. The present application determines the moment when the shaking direction of the cabin changes as the interference node. Since the change in direction cannot be completed by a single moment node, the strong interference time domain segment is determined by extending forward and backward for a certain time according to the moment when the shaking direction changes. The strong interference time domain segment is not included in the screening range. The discreteness of the vibration signal intensity of the remaining time domain segments is used to determine whether the current drainage situation meets the standard, so as to screen the vibration signals that meet the standard, and then detect the impact of environmental factors on the hull during the drainage process, and promptly alarm for abnormal situations to ensure the smoothness and safety of drainage. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a functional module diagram of the ship drainage automatic detection system according to an embodiment of the invention;

[0043] Figure 2 A logic decision diagram for dividing the noise interference tendency of pipelines in different areas according to an embodiment of the invention;

[0044] Figure 3 A logic decision diagram for selecting a stable characterization time domain segment based on the shaking amplitude according to an embodiment of the invention;

[0045] Figure 4 This is a logic decision diagram for determining whether to issue a warning signal according to an embodiment of the present invention. DETAILED DESCRIPTION

[0046] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0047] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0048] It should be noted that, in the description of the present invention, the terms such as "on" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be understood as a limitation on the present invention.

[0049] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the term "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0050] See also Figure 1 As shown, it is a functional module diagram of the ship drainage automatic detection system according to an embodiment of the present invention. The ship drainage automatic detection system according to the embodiment of the present invention includes:

[0051] A sensor group, comprising an inertial sensor arranged in the cabin for detecting the cabin shaking amplitude and shaking direction, and a vibration sensor arranged at intervals at several positions of the pipeline for detecting vibration signals;

[0052] An interference tendency determiner, which is connected to the sensor group and is used to calculate a noise interference characterization coefficient based on the cabin swaying amplitude and the density of pipelines in different areas, so as to classify the noise interference tendency of pipelines in different areas;

[0053] A data filter, which is connected to the interference tendency determiner and the sensor group respectively, is used to filter the data collected by the vibration sensor set on the regional pipeline based on the noise interference tendency of the regional pipeline, including:

[0054] Determine the interference time node based on the change moment of the shaking direction, determine the strong interference time domain segment based on the interference time node, eliminate the strong interference time domain segment, verify whether the discreteness of the vibration signal intensity collected by the vibration sensor in the remaining time domain segments within the cycle meets the standard, and filter out the vibration signal in the time domain segment that meets the standard;

[0055] Or, based on the shaking amplitude, a stable characterization time domain segment is selected to select the vibration signal collected by the vibration sensor within the stable characterization time domain segment;

[0056] An early warning device is connected to the data filter and is used to convert the filtered vibration signal into a frequency domain vibration signal, and determine whether to issue an early warning signal based on the amplitude of the vibration signal in different frequency domain segments.

[0057] Specifically, there is no limitation on the specific structure of the inertial sensor. It is understandable that the inertial sensor needs to be set near the center of gravity of the ship to reduce the measurement error caused by the longitudinal and transverse inclination of the ship to ensure the accuracy and reliability of the monitoring data.

[0058] Specifically, there is no limitation on the specific structure of the vibration sensor. It is understandable that the vibration sensor is arranged on the side walls of the pipelines in different areas to detect the vibration signals of the pipelines in each area.

[0059] It is understandable that the manner of dividing the pipeline into different areas is not limited. For example, the pipeline is divided into areas according to a predetermined coverage area, wherein the predetermined coverage area can be determined according to the size and shape of the vessel.

[0060] Specifically, there is no limitation on the specific structure of the interference tendency determiner, data filter and early warning device, which themselves or each unit therein can be composed of logic components or a combination of logic components, and the logic components include a field programmable processor, a computer or a microprocessor in a computer.

[0061] Specifically, the interference tendency determiner is used to calculate the noise interference characterization coefficient based on the cabin swaying amplitude and the density of pipelines in different areas, including:

[0062] The ratio of the cabin shaking amplitude to the cabin shaking amplitude threshold is used as the first noise interference feature;

[0063] Using the ratio of the density of the pipelines to the density threshold of the pipelines as a second noise interference feature;

[0064] Used to determine the sum of the first noise interference feature and the second noise interference feature as the noise interference characterization coefficient.

[0065] Specifically, the purpose of setting the cabin sway amplitude threshold and the pipeline density threshold in this embodiment is to characterize the situation where the degree of environmental interference of the ship is high, wherein the cabin sway amplitude threshold and the pipeline density threshold are determined based on the mean ship sway amplitude and the mean pipeline density respectively;

[0066] Among them, by obtaining relevant data of several completed drainage works, the cabin sway amplitude data and the pipe density data in each drainage process are synchronously obtained, and the average cabin sway amplitude of each drainage process and the average density of pipes in each area of ​​the ship are solved. According to the purpose of setting the above two thresholds, the cabin sway amplitude threshold is determined between 1.15 times and 1.2 times the cabin sway mean, and the pipe density threshold is determined between 1.05 times and 1.1 times the pipe density mean.

[0067] Specifically, the present invention calculates the noise interference characterization coefficient by the shaking amplitude of the cabin and the density of pipes in different areas. During the drainage process of the ship, some environmental factors, such as rainfall in bad weather and excessive wind, may affect the stability of the ship in transit, which may lead to a decrease in the smoothness of the liquid flow in the pipe. For example, when the ship is disturbed and shakes, the area with densely distributed pipes is more seriously affected. Therefore, the present application characterizes the degree to which the stability of pipes in each area is likely to be disturbed by calculating the noise interference characterization coefficient, so as to provide data support for the subsequent division of the noise interference tendency of pipes in different areas, so as to adaptively screen the data collected by the vibration sensors installed on the regional pipes.

[0068] Specifically, see Figure 2 As shown, it is a logical determination diagram for dividing the noise interference tendency of pipelines in different regions according to an embodiment of the present invention. The interference tendency determiner is used to divide the noise interference tendency of pipelines in different regions based on the noise interference characterization coefficient, including:

[0069] If the noise interference characterization coefficient is greater than or equal to the noise interference characterization coefficient threshold, the noise interference of the pipeline in the area is determined to be a high tendency category;

[0070] If the noise interference characterization coefficient is less than the noise interference characterization coefficient threshold, the noise interference of the pipeline in the area is determined to be a low tendency category.

[0071] The noise interference characterization coefficient threshold is selected in the interval [2.34,2.47].

[0072] Specifically, the data filter is used to filter the data collected by the vibration sensor set on the regional pipeline, including:

[0073] If the noise interference of the regional pipeline is of the high tendency category, the interference time node is determined based on the change moment of the shaking direction, the strong interference time domain segment is determined based on the interference time node, the strong interference time domain segment is eliminated, and the discreteness of the vibration signal intensity collected by the vibration sensor in the remaining time domain segments within the cycle is verified to meet the standard, and the vibration signal in the time domain segment that meets the standard is screened out;

[0074] If the noise interference of the regional pipeline is of the low tendency category, the stable characterization time domain segment is screened based on the shaking amplitude, and the vibration signal collected by the vibration sensor within the stable characterization time domain segment is screened out.

[0075] Specifically, the data filter is used to determine the interference time node based on the change moment of the shaking direction, and determine the strong interference time domain segment based on the interference time node, including:

[0076] To obtain the shaking direction collected by the inertial sensor;

[0077] It is used to determine the moment when the shaking direction of the cabin changes as the interference time node;

[0078] Used to extend forward 0.1s and backward 0.1s based on the moment corresponding to the interference time node;

[0079] It is used to determine the time period formed by extending the corresponding time as a strong interference time domain period.

[0080] Specifically, the data filter is used to determine the discreteness of the intensity of the vibration signal collected by the vibration sensor in the remaining time domain segment within the cycle, including:

[0081] Used to calculate the variance of the vibration signal strength.

[0082] It can be understood that the remaining time domain segments refer to other time domain segments in the period after the strong interference time domain segments are removed.

[0083] Specifically, the data filter is used to verify whether the discreteness of the vibration signal intensity collected by the vibration sensor in the remaining time domain segment within the cycle meets the standard, including:

[0084] If there is a time domain segment where the variance of the vibration signal strength is greater than or equal to the variance threshold, it is determined that the time domain segment meets the standard.

[0085] The variance threshold H0 is selected in the interval [0.1, 0.3].

[0086] Specifically, the present invention eliminates the time domain segments with strong interference and detects whether the discreteness of the vibration signal intensity of the remaining time domain segments in the cycle meets the standard. During the normal navigation of the ship, during the time period when the direction of the cabin changes, the liquid flowing inside the pipeline will also produce large fluctuations and directional deviations, resulting in abnormalities. The present application determines the moment when the shaking direction of the cabin changes as the interference node. Since the change in direction cannot be completed by a single moment node, the strong interference time domain segment is determined by extending forward and backward for a certain time according to the moment when the shaking direction changes. The strong interference time domain segment is not included in the screening range. The discreteness of the vibration signal intensity of the remaining time domain segments is used to determine whether the current drainage situation meets the standard, so as to screen the vibration signals that meet the standard, and then detect the impact of environmental factors on the hull during the drainage process, and promptly alarm for abnormal situations to ensure the smoothness and safety of drainage.

[0087] Specifically, see Figure 3 As shown, it is a logical decision diagram for selecting a stable characterization time domain segment based on the shaking amplitude according to an embodiment of the present invention. The data filter is used to select a stable characterization time domain segment based on the shaking amplitude, including:

[0088] If the shaking amplitude in the time domain segment is smaller than the shaking amplitude threshold, the time domain segment is determined to be a stable representation time domain segment;

[0089] If the shaking amplitude in a time domain segment is greater than or equal to the shaking amplitude threshold, it is determined that the time domain segment is not a stable representation time domain segment.

[0090] Specifically, the early warning device is used to convert the screened vibration signal into a frequency domain vibration signal, including:

[0091] It is used to convert the vibration signal in the time domain segment into the frequency domain for analysis based on the wavelet method to obtain the vibration signal data in different frequency domain segments.

[0092] Specifically, see Figure 4 As shown, it is a logic determination diagram of the discreteness of the vibration signal intensity according to the standard in an embodiment of the present invention. The early warning device is used to determine whether to issue an early warning signal based on the amplitude of the vibration signal in different frequency domain segments, including:

[0093] If the vibration signal amplitude in the frequency domain segment is less than the vibration signal amplitude threshold of the frequency domain segment, there is no need to issue a warning signal;

[0094] If the vibration signal amplitude within the frequency domain segment is greater than or equal to the vibration signal amplitude threshold of the frequency domain segment, an early warning signal is issued.

[0095] Specifically, the purpose of setting the vibration signal amplitude threshold in each frequency domain segment in this embodiment is to characterize the situation where the vibration of the ship is too strong and has too great an impact on the stability and safety of the drainage work;

[0096] Among them, the vibration signal amplitude threshold corresponding to each frequency domain segment is determined according to the mean vibration signal amplitude of each frequency domain segment, and the vibration signal amplitude data of each frequency domain segment is obtained to solve the mean vibration signal amplitude of each frequency domain segment. Based on the purpose of setting the vibration signal amplitude threshold of each frequency domain segment, the vibration signal amplitude threshold of each frequency domain segment is determined between 1.08 times and 1.16 times the mean vibration signal amplitude of each frequency domain segment.

[0097] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. A ship drainage automatic detection system, characterized in that: include: A sensor group, comprising an inertial sensor arranged in the cabin for detecting the cabin shaking amplitude and shaking direction, and a vibration sensor arranged at intervals at several positions of the pipeline for detecting vibration signals; An interference tendency determiner, which is connected to the sensor group and is used to calculate a noise interference characterization coefficient based on the cabin swaying amplitude and the density of pipelines in different areas, so as to classify the noise interference tendency of pipelines in different areas; A data filter, which is connected to the interference tendency determiner and the sensor group respectively, is used to filter the data collected by the vibration sensor set on the regional pipeline based on the noise interference tendency of the regional pipeline, including: Determine the interference time node based on the change moment of the shaking direction, determine the strong interference time domain segment based on the interference time node, eliminate the strong interference time domain segment, verify whether the discreteness of the vibration signal intensity collected by the vibration sensor in the remaining time domain segments within the cycle meets the standard, and filter out the vibration signal in the time domain segment that meets the standard; Or, based on the shaking amplitude, a stable characterization time domain segment is selected to select the vibration signal collected by the vibration sensor within the stable characterization time domain segment; An early warning device is connected to the data filter and is used to convert the filtered vibration signal into a frequency domain vibration signal, and determine whether to issue an early warning signal based on the amplitude of the vibration signal in different frequency domain segments.

2. The ship drainage automatic detection system according to claim 1, characterized in that: The interference tendency determiner is used to calculate the noise interference characterization coefficient based on the cabin swaying amplitude and the density of pipelines in different areas, including: The ratio of the cabin shaking amplitude to the cabin shaking amplitude threshold is used as the first noise interference feature; Using the ratio of the density of the pipelines to the density threshold of the pipelines as a second noise interference feature; Used to determine the sum of the first noise interference feature and the second noise interference feature as the noise interference characterization coefficient.

3. The ship drainage automatic detection system according to claim 1, characterized in that: The interference tendency determiner is used to divide the noise interference tendency of pipelines in different areas based on the noise interference characterization coefficient, including: If the noise interference characterization coefficient is greater than or equal to the noise interference characterization coefficient threshold, the noise interference of the pipeline in the area is determined to be a high tendency category; If the noise interference characterization coefficient is less than the noise interference characterization coefficient threshold, the noise interference of the pipeline in the area is determined to be a low tendency category.

4. The ship drainage automatic detection system according to claim 1, characterized in that: The data filter is used to filter the data collected by the vibration sensor set on the regional pipeline, including: If the noise interference of the regional pipeline is of the high tendency category, the interference time node is determined based on the change moment of the shaking direction, the strong interference time domain segment is determined based on the interference time node, the strong interference time domain segment is eliminated, and the discreteness of the vibration signal intensity collected by the vibration sensor in the remaining time domain segments within the cycle is verified to meet the standard, and the vibration signal in the time domain segment that meets the standard is screened out; If the noise interference of the regional pipeline is of the low tendency category, the stable characterization time domain segment is screened based on the shaking amplitude, and the vibration signal collected by the vibration sensor within the stable characterization time domain segment is screened out.

5. The ship drainage automatic detection system according to claim 1, characterized in that: The data filter is used to determine the interference time node based on the change moment of the shaking direction, and determine the strong interference time domain segment based on the interference time node, including: To obtain the shaking direction collected by the inertial sensor; It is used to determine the moment when the shaking direction of the cabin changes as the interference time node; Used to extend forward 0.1s and backward 0.1s based on the moment corresponding to the interference time node; It is used to determine the time period formed by extending the corresponding time as a strong interference time domain period.

6. The ship drainage automatic detection system according to claim 1, characterized in that: The data filter is used to determine the discreteness of the intensity of the vibration signal collected by the vibration sensor in the remaining time domain segment within the cycle, including: Used to calculate the variance of the vibration signal strength.

7. The ship drainage automatic detection system according to claim 6, characterized in that: The data filter is used to verify whether the discreteness of the vibration signal intensity collected by the vibration sensor in the remaining time domain segment within the cycle meets the standard, including: If there is a time domain segment where the variance of the vibration signal strength is greater than or equal to the variance threshold, it is determined that the time domain segment meets the standard.

8. The ship drainage automatic detection system according to claim 6, characterized in that: The data filter is used to filter the stable characterization time domain segment based on the shaking amplitude, including: If the shaking amplitude in a time domain segment is smaller than the shaking amplitude threshold, the time domain segment is determined to be a stable representation time domain segment.

9. The ship drainage automatic detection system according to claim 6, characterized in that: The early warning device is used to convert the screened vibration signal into a frequency domain vibration signal. include, It is used to convert the vibration signal in the time domain segment into the frequency domain for analysis based on the wavelet method to obtain the vibration signal data in different frequency domain segments.

10. The ship drainage automatic detection system according to claim 6, characterized in that: The early warning device is used to determine whether to issue an early warning signal based on the amplitude of the vibration signal in different frequency domain segments, including: If the vibration signal amplitude within the frequency domain segment is greater than or equal to the vibration signal amplitude threshold of the frequency domain segment, an early warning signal is issued.

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