An automatic detection system for ship drainage

Abstract

The present invention relates to the field of ship detection, and in particular to an automatic ship drainage detection system. The present invention provides a sensor group including an inertial sensor arranged in a cabin for detecting the cabin shaking amplitude and shaking direction, and a vibration sensor arranged at intervals at several positions of a pipeline for detecting a vibration signal; an interference tendency determiner is used to calculate a noise interference characterization coefficient based on the cabin shaking amplitude and the density of pipelines in different regions, so as to divide the noise interference tendency of pipelines in different regions; a data filter is used to adaptively filter data collected by a vibration sensor arranged on a regional pipeline based on the noise interference tendency of the regional pipeline; an early warning device 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 signal amplitude 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 conditions, thereby ensuring the stability and safety of drainage.

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 an automatic ship drainage detection system, which includes:

[0008] A sensor group, which includes an inertial sensor arranged in the cabin for detecting the sway amplitude and sway direction of the cabin, and vibration sensors arranged at several positions on the pipeline at intervals 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 sway amplitude of the cabin and the density of pipelines in different regions, so as to divide the noise interference tendency of pipelines in different regions;

[0010] A data filter, which is respectively connected to the interference tendency determiner and the sensor group, and is used to screen the data collected by the vibration sensors arranged on the pipelines in the region based on the noise interference tendency of the pipelines in the region, including,

[0011] Determining an interference time node based on the change moment of the sway direction, determining a strong interference time domain segment based on the interference time node, excluding the strong interference time domain segment, verifying whether the discreteness of the vibration signal intensity collected by the vibration sensor in the remaining time domain segment within the verification period meets the standard, and screening out the vibration signals in the time domain segment that meets the standard;

[0012] Or, screening a stable characterization time domain segment based on the sway amplitude, and screening out the vibration signals collected by the vibration sensor in the stable characterization time domain segment;

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

[0014] Further, the interference tendency determiner is used to calculate a noise interference characterization coefficient based on the sway amplitude of the cabin and the density of pipelines in different regions, including,

[0015] Using the ratio of the sway amplitude of the cabin to the sway amplitude threshold as the first noise interference characteristic;

[0016] Using the ratio of the pipeline density to the pipeline density threshold as the second noise interference characteristic;

[0017] Using the sum of the first noise interference characteristic and the second noise interference characteristic as the noise interference characterization coefficient.

[0018] Further, 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,

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

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

[0021] Furthermore, the data filter is used to screen the data collected by the vibration sensors set on the pipeline in this area, including,

[0022] If the noise interference of the pipeline in the area is of a high - tendency category, based on the change moment of the swaying direction, the interference time node is determined, based on the interference time node, the strong - interference time domain segment is determined, the strong - interference time domain segment is removed, and it is verified whether the discreteness of the vibration signal intensity collected by the vibration sensor in the remaining time domain segment within the verification period meets the standard, and the vibration signals in the time domain segments that meet the standard are screened out;

[0023] If the noise interference of the pipeline in the area is of a low - tendency category, based on the swaying amplitude, the stable - characterization time domain segment is screened, and the vibration signals collected by the vibration sensor in the stable - characterization time domain segment are screened out.

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

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

[0026] To determine the moment when the swaying direction of the cabin changes as the interference time node;

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

[0028] To determine the time - period formed after the extension of the corresponding moment as the strong - interference time domain segment.

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

[0030] To calculate the variance of the vibration signal intensity.

[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 period meets the standard, including,

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

[0033] Further, the data filter is used to screen out the stable representation time domain segments based on the shaking amplitude, including:

[0034] If the shaking amplitude within a time domain segment is less than the shaking amplitude threshold, then it is determined that this time domain segment is a stable representation time domain segment.

[0035] Further, the warning device is used to convert the screened vibration signals into frequency domain vibration signals, including:

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

[0037] Further, the warning device is used to determine whether to issue a warning signal based on the amplitudes of the vibration signals within different frequency domain segments, including:

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

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

[0040] In particular, the present invention calculates the noise interference characterization coefficient through the shaking amplitude of the cabin and the density of pipelines in different regions. During the drainage process of the ship, some environmental factors, such as rainfall and excessive wind force under bad weather, may affect the stability of the ship in transit, and may further lead to a decrease in the smoothness of the liquid flow in the pipeline. For example, when the ship is disturbed and shakes, the areas with dense pipeline distribution are more severely affected. Therefore, this application calculates the noise interference characterization coefficient to characterize the degree of tendency of the stability of pipelines in each region to be disturbed, providing data support for subsequent division of the noise interference tendency of pipelines in different regions, so as to adaptively screen the data collected by the vibration sensors arranged on the regional pipelines.

[0041] In particular, the present invention determines whether the discreteness of the vibration signal intensity in the remaining time domain segments within the detection period meets the standard by excluding strong interference time domain segments. During the normal navigation of a ship, when the direction of the cabin changes, the liquid flowing inside the pipeline will also generate large fluctuations and direction offsets, resulting in abnormalities. In this application, the moment when the shaking direction of the cabin changes is determined as an interference node. Since the change in direction cannot be completed by a single moment node, a certain period of time is extended forward and backward based on the moment when the shaking direction changes to determine the strong interference time domain segment, and the strong interference time domain segment is not included in the screening range. Whether the current drainage situation meets the standard is determined by the discreteness of the vibration signal intensity in the remaining time domain segments, so as to screen out the vibration signals that meet the standard. Furthermore, the impact of environmental factors on the hull during the drainage process is detected, and an alarm is issued in a timely manner for abnormal situations to ensure the smoothness and safety of drainage. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0043] Figure 2 FIG. is a logical determination diagram for dividing the noise interference tendency of pipelines in different regions according to an embodiment of the invention;

[0044] Figure 3 FIG. is a logical determination diagram for screening stable characterization time domain segments based on the shaking amplitude according to an embodiment of the invention;

[0045] Figure 4 FIG. is a logical determination diagram for determining whether to issue a warning signal according to an embodiment of the invention. DETAILED DESCRIPTION OF THE INVENTION

[0046] In order to make the objectives and advantages of the present invention clearer, the present invention will be 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 will be described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present invention and do not limit the protection scope of the present invention.

[0048] It should be noted that in the description of the present invention, terms indicating directions or positional relationships such as "upper" are based on the directions or positional relationships shown in the drawings. This is only for 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, and therefore cannot be construed as a limitation of 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] Please refer to Figure 1 as shown, which is a functional module diagram of the automatic ship drainage detection system according to an embodiment of the present invention. The automatic ship drainage detection system according to an embodiment of the present invention includes:

[0051] A sensor group, which includes an inertial sensor arranged in the cabin for detecting the sway amplitude and sway direction of the cabin, and vibration sensors arranged at several positions of the pipeline at intervals 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 sway amplitude of the cabin and the density of pipelines in different regions, so as to divide the noise interference tendency of pipelines in different regions;

[0053] A data filter, which is respectively connected to the interference tendency determiner and the sensor group, and is used to screen the data collected by the vibration sensors arranged on the pipelines in the region based on the noise interference tendency of the pipelines in the region, including,

[0054] Determining an interference time node based on the change moment of the sway direction, determining a strong interference time domain segment based on the interference time node, eliminating the strong interference time domain segment, and verifying whether the discreteness of the vibration signal intensity collected by the vibration sensor in the remaining time domain segment within the verification period meets the standard, and screening out the vibration signals in the time domain segment that meets the standard;

[0055] Or, screening a stable characterization time domain segment based on the sway amplitude, and screening out the vibration signals collected by the vibration sensor in the stable characterization time domain segment;

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

[0057] Specifically, the specific structure of the inertial sensor is not limited. It can be understood that the inertial sensor needs to be arranged near the center of gravity of the ship to reduce the measurement error caused by the longitudinal and transverse inclination amplitudes of the ship, so as to ensure the accuracy and reliability of the monitoring data.

[0058] Specifically, the specific structure of the vibration sensor is not limited. It can be understood that the vibration sensor is arranged on the side walls of pipelines in different regions to detect the vibration signals of each region of the pipeline.

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

[0060] Specifically, the specific structures of the interference tendency determiner, the data filter, and the early warning device are not limited. It or each unit therein can be composed of logic components or a combination of logic components. The logic components include a field programmable processor, a computer, or a microprocessor in the computer.

[0061] Specifically, the interference tendency determiner is used to calculate a noise interference characterization coefficient based on the amplitude of the ship's cabin shaking and the density of the pipeline in different regions, including,

[0062] using the ratio of the amplitude of the ship's cabin shaking to the threshold value of the amplitude of the ship's cabin shaking as the first noise interference characteristic;

[0063] using the ratio of the density of the pipeline to the threshold value of the density of the pipeline as the second noise interference characteristic;

[0064] using the sum of the first noise interference characteristic and the second noise interference characteristic as the noise interference characterization coefficient.

[0065] Specifically, in this embodiment, the purpose of setting the threshold value of the amplitude of the ship's cabin shaking and the threshold value of the density of the pipeline is to characterize the situation where the ship is highly interfered by the environment. Among them, the threshold value of the amplitude of the ship's cabin shaking and the threshold value of the density of the pipeline are respectively determined based on the average value of the amplitude of the ship's shaking and the average value of the density of the pipeline;

[0066] Among them, by obtaining relevant data for several times of completing the drainage work, synchronously obtaining the data of the amplitude of the ship's cabin shaking and the density of the pipeline during each drainage process, solving the average value of the amplitude of the ship's cabin shaking during each drainage process and the average value of the density of the pipeline in each area of the ship, and according to the purpose of setting the above two threshold values, the threshold value of the amplitude of the ship's cabin shaking is determined to be between 1.15 times and 1.2 times the average value of the amplitude of the ship's cabin shaking, and the threshold value of the density of the pipeline is determined to be between 1.05 times and 1.1 times the average value of the density of the pipeline.

[0067] Specifically, the present invention calculates a noise interference characterization coefficient based on the sway amplitude of the cabin and the density of pipelines in different areas. During the drainage process of the ship, some environmental factors, such as rainfall under bad weather and excessive wind force, may affect the stability of the ship in transit, and may further cause a decrease in the smoothness of the liquid flow in the pipeline. For example, when the ship is disturbed and sways, the areas with dense pipeline distribution are more severely affected. Therefore, this application calculates the noise interference characterization coefficient to characterize the degree of tendency of the stability of pipelines in each area to be disturbed, providing data support for subsequent classification of the noise interference tendency of pipelines in different areas, so as to adaptively screen the data collected by the vibration sensors installed on the area pipelines.

[0068] Specifically, please refer to Figure 2 As shown in the figure, it is a logical decision diagram for classifying the noise interference tendency of pipelines in different areas in an embodiment of the present invention. The interference tendency determiner is used to classify the noise interference tendency of pipelines in different areas 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, it is determined that the noise interference of the pipeline in this area is of a high-tendency category;

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

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

[0072] Specifically, the data filter is used to filter the data collected by the vibration sensors installed on the area pipelines, including

[0073] If the noise interference of the area pipeline is of a high-tendency category, the interference time node is determined based on the change moment of the sway direction, the strong interference time domain segment is determined based on the interference time node, the strong interference time domain segment is removed, and it is verified whether the discreteness of the vibration signal intensity collected by the vibration sensor within the remaining time domain segment during the verification period meets the standard, and the vibration signals within the time domain segment that meets the standard are screened out;

[0074] If the noise interference of the area pipeline is of a low-tendency category, the stable characterization time domain segment is screened based on the sway amplitude, and the vibration signals collected by the vibration sensor within the stable characterization time domain segment are screened out.

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

[0076] Used to obtain the sway direction collected by the inertial sensor;

[0077] To determine the moment when the swaying direction of the cabin changes as the interference time node;

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

[0079] To determine the time period formed after the extension of the corresponding moment as the strong interference time domain segment.

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

[0081] To calculate the variance of the vibration signal intensity.

[0082] It can be understood that the remaining time domain segment refers to other time domain segments within the period after excluding the strong interference time domain segment.

[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 period meets the standard, including,

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

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

[0086] Specifically, the present invention detects whether the discreteness of the vibration signal intensity in the remaining time domain segment within the period meets the standard by excluding the strong interference time domain segment. During the normal navigation of the ship, within the time period when the direction of the cabin changes, the liquid flowing inside the pipeline will also generate large fluctuations and direction offsets, resulting in abnormalities. In this application, the moment when the swaying direction of the cabin changes is determined as the interference node. Since the change in direction cannot be completed by a single moment node, therefore, a certain period of time is extended forward and backward based on the moment when the swaying direction changes to determine the strong interference time domain segment, and the strong interference time domain segment is not included in the screening range. Whether the current drainage situation meets the standard is determined by the discreteness of the vibration signal intensity in the remaining time domain segment, so as to screen the vibration signals that meet the standard. Furthermore, the influence of environmental factors on the hull during the drainage process is detected, and an alarm is given in a timely manner for abnormal situations to ensure the smoothness and safety of drainage.

[0087] Specifically, please refer to Figure 3 As shown, it is the logical decision diagram for screening the stable characterization time domain segment based on the swaying amplitude in the embodiment of the present invention. The data filter is used to screen the stable characterization time domain segment based on the swaying amplitude, including,

[0088] If the shaking amplitude within a time domain segment is less than the shaking amplitude threshold, it is determined that this time domain segment is a stable representation time domain segment;

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

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

[0091] Based on the wavelet method, the vibration signal in the time domain segment is converted to the frequency domain for analysis to obtain the vibration signal data in different frequency domain segments.

[0092] Specifically, please refer to Figure 4 As shown, it is a logical decision diagram in which the discreteness of the vibration signal intensity in the embodiment of the present invention meets the standard. The early warning device is used to determine whether to issue an early warning signal based on the vibration signal amplitude 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 where it is located, there is no need to issue an early warning signal;

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

[0095] Specifically, in this embodiment, the purpose of setting the vibration signal amplitude threshold in each frequency domain segment is to characterize the situation where the vibration received by the ship is too strong and has too much impact on the smoothness 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 average value of the vibration signal amplitudes in each frequency domain segment. By obtaining the vibration signal amplitude data in each frequency domain segment, the average value of the vibration signal amplitudes in each frequency domain segment is solved. Based on the purpose of setting the vibration signal amplitude threshold in each frequency domain segment, therefore, the vibration signal amplitude threshold in each frequency domain segment is determined to be between 1.08 times and 1.16 times the average value of the vibration signal amplitudes in the corresponding frequency domain segments.

[0097] So far, the technical solution of the present invention has been described in combination with the preferred embodiments shown in the 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. An automatic ship drainage detection system, characterized in that, Including: A sensor group, which includes an inertial sensor arranged in the cabin for detecting the sway amplitude and sway direction of the cabin, and vibration sensors arranged at several positions on the pipeline at intervals 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 sway amplitude of the cabin and the density of pipelines in different regions, so as to classify the noise interference tendency of pipelines in different regions; A data filter, which is respectively connected to the interference tendency determiner and the sensor group, and is used to screen the data collected by the vibration sensors arranged on the pipelines in the region based on the noise interference tendency of the pipelines in the region, including Determining an interference time node based on the change moment of the sway direction, determining a strong interference time domain segment based on the interference time node, eliminating the strong interference time domain segment, and verifying whether the discreteness of the vibration signal intensity collected by the vibration sensor in the remaining time domain segment within the verification period meets the standard, and screening out the vibration signals in the time domain segment that meets the standard; Or, screening a stable characterization time domain segment based on the sway amplitude, and screening out the vibration signals collected by the vibration sensor in the stable characterization time domain segment; An early warning device, which is connected to the data filter and is used to convert the screened vibration signal into a frequency-domain vibration signal, and determine whether to issue an early warning signal based on the vibration signal amplitude in different frequency domain segments.

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

3. The automatic ship drainage detection system according to claim 1, characterized in that The interference tendency determiner is used to classify the noise interference tendency of pipelines in different regions 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, it is determined that the noise interference of the pipeline in this region is a high-tendency category; If the noise interference characterization coefficient is less than the noise interference characterization coefficient threshold, it is determined that the noise interference of the pipeline in this region is a low-tendency category.

4. The automatic ship drainage detection system according to claim 1, characterized in that The data filter is used to screen the data collected by the vibration sensors arranged on the pipelines in the region, including If the noise interference of the pipeline in the region is a high-tendency category, determining an interference time node based on the change moment of the sway direction, determining a strong interference time domain segment based on the interference time node, eliminating the strong interference time domain segment, and verifying whether the discreteness of the vibration signal intensity collected by the vibration sensor in the remaining time domain segment within the verification period meets the standard, and screening out the vibration signals in the time domain segment that meets the standard; If the noise interference of the pipeline in the region is a low-tendency category, screening a stable characterization time domain segment based on the sway amplitude, and screening out the vibration signals collected by the vibration sensor in the stable characterization time domain segment.

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

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

7. The automatic ship drainage 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 a period meets the standard, including, If the variance of the vibration signal intensity in a time domain segment is greater than or equal to the variance threshold, it is determined that this time domain segment meets the standard.

8. The automatic ship drainage detection system according to claim 6, characterized in that The data filter is used to screen the stable characterization time domain segment based on the swaying amplitude, including, If the swaying amplitude in a time domain segment is less than the swaying amplitude threshold, it is determined that this time domain segment is the stable characterization time domain segment.

9. The automatic ship drainage 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, including, To convert the vibration signal in the time domain segment to the frequency domain for analysis based on the wavelet method to obtain the vibration signal data in different frequency domain segments.

10. The automatic ship drainage 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 vibration signal amplitude in different frequency domain segments, including, If the vibration signal amplitude in a frequency domain segment is greater than or equal to the vibration signal amplitude threshold of the frequency domain segment where it is located, an early warning signal is issued.

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