Liquid level metering device for water tank of underwater vehicle

Abstract

The invention relates to the technical field of volume measurement, and discloses an underwater vehicle water tank liquid level metering device which comprises a shell, a supporting mother board, a power supply filter, a power supply circuit board and a control circuit board. The power circuit board and the control circuit board are detachably connected with the supporting mother board. The power circuit board is provided with a power loop, and the control circuit board is provided with a control loop. When the liquid level metering device is in a working state, the power supply filter, the power supply loop, the control loop, the self-checking switch and the operation state indicating lamp form a series system. Wherein the device failure rate of the liquid level metering device is obtained by summing the component failure rate of each component in the liquid level metering device, and the average failure interval time of the liquid level metering device is determined based on the reciprocal of the device failure rate. Therefore, the reliability and the precision of the water tank liquid level metering device of the underwater vehicle under extreme conditions are improved, and the stability and the controllability of the underwater vehicle are further ensured.

Description

Technical Field

[0001] The present application relates to the technical field of volume measurement, and in particular to a liquid level measuring device for a water tank of an underwater vehicle. Background Art

[0002] When underwater vehicles, such as submarines, are navigating underwater, they need to control their buoyancy and maintain balance by adjusting the water level in the water tank. This is especially important when the underwater vehicle is carrying different loads to perform tasks. In order to ensure the stability and maneuverability of the underwater vehicle, the volume of the liquid in the water tank must be accurately measured.

[0003] To this end, the underwater vehicle is equipped with a water tank level and capacity measurement device, which can use various sensors (such as ultrasonic or pressure sensors) to measure the height of the liquid in the water tank. Through this data, combined with the geometric structure of the water tank, the volume of the liquid can be calculated. At the same time, the device will also record the changes in liquid level and capacity, providing important historical data for the operator of the underwater vehicle.

[0004] However, in the related art, for extreme conditions (such as underwater pressure environment), the reliability and accuracy of the water tank liquid level capacity device that can remotely measure the water volume in the longitudinal balance water tank and the buoyancy adjustment water tank still needs to be further improved. Summary of the invention

[0005] The present application aims to solve at least one of the technical problems in the related art to a certain extent. To this end, the present application proposes a liquid level measuring device for a water tank of an underwater vehicle. The main technical solutions adopted in the present application include: The embodiment of the present application provides a liquid level metering device for a water tank of an underwater vehicle, the device comprising a shell, a supporting motherboard, a power filter, a power circuit board and a control circuit board; the supporting motherboard, the power filter, the power circuit board and the control circuit board are arranged in the shell; the supporting motherboard is fixedly connected to the shell; the power circuit board and the control circuit board are detachably connected to the supporting motherboard respectively, wherein a power circuit is arranged on the power circuit board, and a control circuit is arranged on the control circuit board; the shell comprises a control panel; an external connector, a power switch, a self-test switch and an operating status indicator light are arranged on the control panel; the external connector, the power switch, the self-test switch and the operating status indicator light are respectively connected to the supporting motherboard; when the liquid level metering device is in working state, the power switch, the power filter, the power circuit board, the control circuit board and the operating status indicator light form a series system; wherein the device failure rate of the liquid level metering device is obtained by summing the component failure rate of each component in the liquid level metering device, and the average failure interval time of the liquid level metering device is determined based on the inverse of the device failure rate.

[0006] In the above embodiment, a liquid level metering device for the water tank of an underwater vehicle is proposed for underwater extreme environments, including a housing, a supporting motherboard, a power filter, a power circuit board and a control circuit board; the supporting motherboard, the power filter, the power circuit board and the control circuit board are arranged in the housing. The power circuit board and the control circuit board are detachably connected to the supporting motherboard respectively. A power circuit is arranged on the power circuit board, and a control circuit is arranged on the control circuit board; the housing includes a control panel; an external connector, a power switch, a self-test switch and an operating status indicator light are arranged on the control panel, and the external connector, the power switch, the self-test switch and the operating status indicator light are connected to the supporting motherboard respectively. When the liquid level metering device is in working state, the power filter, the power circuit, the control circuit, the self-test switch and the operating status indicator light form a series system; the device failure rate of the liquid level metering device is obtained by summing the component failure rate of each component in the liquid level metering device, and the average failure interval time of the liquid level metering device is determined based on the inverse of the device failure rate. So far, the reliability and accuracy of the liquid level metering device for the water tank of the underwater vehicle under extreme conditions are improved, and the stability and controllability of the underwater vehicle are further ensured. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0008] Figure 1a A structural block diagram of a liquid level measuring device for a water tank of an underwater vehicle provided according to an embodiment of the present application; Figure 1b This is a structural diagram of a housing and a panel of a liquid level measuring device for a water tank of an underwater vehicle provided according to one embodiment of the present application; Figure 1c An electrical schematic diagram of a power filter provided according to an embodiment of the present application; Figure 1d This is a schematic diagram of the installation of a control circuit board, a power circuit board and a support motherboard that are detachably connected according to an embodiment of the present application; Figure 1e A circuit schematic diagram of a power supply circuit provided according to an embodiment of the present application; Figure 1f A structural block diagram of a control loop provided according to an embodiment of the present application; Figure 1g A circuit schematic diagram of a self-test unit provided according to an embodiment of the present application; Figure 1h A circuit schematic diagram of an LED control unit provided according to an embodiment of the present application; Figure 1i A reliability block diagram of a series connection system provided according to an embodiment of the present application; Figure 2a A circuit schematic diagram of an RS422 communication circuit provided according to an embodiment of the present application; Figure 2b A circuit schematic diagram of a CAN communication circuit provided according to an embodiment of the present application; Figure 3a A circuit schematic diagram of a first rectangular terminal provided according to an embodiment of the present application; Figure 3b A circuit schematic diagram of a second rectangular terminal provided according to an embodiment of the present application; Figure 4 A circuit schematic diagram of a third rectangular terminal provided according to an embodiment of the present application; Figure 5 A circuit schematic diagram of a signal isolation module provided according to an embodiment of the present application; Figure 6a A circuit schematic diagram of a fourth rectangular terminal provided according to an embodiment of the present application; Figure 6b The present invention is a circuit diagram of an operating status indicator light provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0009] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0010] When an underwater vehicle is sailing underwater, it needs to control its buoyancy and maintain balance by adjusting the water level in the water tank. This is especially important when the underwater vehicle carries different loads to perform tasks. In order to ensure the stability and maneuverability of the underwater vehicle, the capacity of the liquid in the water tank must be accurately measured to accurately calculate the weight and center of gravity position of the underwater vehicle. To this end, the underwater vehicle is equipped with a water tank liquid level capacity metering device, which can use various sensors (such as ultrasonic or pressure sensors) to measure the height of the liquid in the water tank. Through this data, combined with the geometric structure of the water tank, the volume of the liquid can be calculated. At the same time, the device will also record changes in liquid level and capacity, providing important historical data for the operator of the underwater vehicle.

[0011] However, in the related art, the reliability and accuracy of the water tank level capacity device that can remotely measure the amount of water in the trim balance water tank and the buoyancy adjustment water tank under extreme conditions (such as underwater pressure environment) still need to be further improved. The measurement methods in the related art, such as ultrasonic level measurement and pressure measurement, may be affected by underwater pressure, temperature changes and changes in liquid density, resulting in measurement errors. Among them, because the propagation speed of sound waves in water is different from that in air, ultrasonic sensors cannot be used in underwater environments and may be affected by underwater pressure; and the sensing accuracy of ultrasonic sensors will be affected by soft materials, and their sensing accuracy will also be affected when the temperature changes by 5-10 degrees or more. Pressure sensors may require specific mechanical considerations in extreme underwater pressure environments to prevent materials from being damaged by pressure; and the oxygen content in the deep sea is low, which may cause pitting and cracks. After the equipment is removed, the oxygen in the atmosphere will enter the equipment and start the corrosion process, resulting in errors in the results. In addition, the accuracy, stability and anti-interference ability of various sensors themselves are also important factors that limit their application under extreme conditions.

[0012] Based on this, according to an embodiment of the present application, an embodiment of a liquid level measuring device for a water tank of an underwater vehicle is provided, such as Figure 1a As shown, the liquid level metering device 100 of the water tank of the underwater vehicle includes: a shell 102, a supporting motherboard 104, a power filter 106, a power circuit board 108 and a control circuit board 110; the supporting motherboard 104, the power filter 106, the power circuit board 108 and the control circuit board 110 are arranged in the shell 102.

[0013] The housing may be an external structure of the liquid level metering device for accommodating and protecting the various components inside the device. Specifically, an integrated platform or box body that is resistant to electromagnetic interference may be selected as the housing of the liquid level metering device. For example, please refer to Figure 1b ,An integrated box structure made of electromagnetic interference proof aluminum alloy material 6061 is selected as the shell 102 structure of the liquid level metering device.

[0014] The support motherboard may refer to a support plate-like structure that provides a fixed support for the main components of the liquid level metering device, and is used to support, fix and connect other electronic components or circuit boards. For example, a flat plate made of metal or plastic that fixes the circuit board and other components can be selected as the support motherboard; a PCB circuit board arranged with circuit traces, component mounting positions and multiple rectangular connector terminals can also be selected as the support motherboard; a backplane that provides power connection and signal distribution and is connected to multiple plug-in terminals or subsystems can also be selected as the support motherboard 104.

[0015] The power filter can be used to suppress noise and interference in the power grid, and prevent the interference generated by electronic equipment from being fed back to the electronic equipment in the power grid. Specifically, the power filter is connected to the entrance of the power line into the liquid level metering device, and is used to receive the external AC220V power supply and filter it. For example, please refer to Figure 1c , Beijing Yuanliu Hongyuan Electronics YLLCA12092A-1 can be selected as the power filter 106, one end of which is suitable for connecting to the external power supply device 103 through the load resistor 101 and the power switch 120, and the other end can be connected to the connection terminal 105 suitable for connecting to the power circuit board, so as to transmit the power after filtering out the noise and interference in the power grid to the power circuit board for subsequent conversion and distribution.

[0016] The power supply circuit board 108 may refer to a PCB circuit board used to convert an external power supply into a DC power supply required by an electronic device and ensure the stability and purity of the power supply. Specifically, the power supply circuit board includes a rectifier or a voltage stabilizer, and integrates components such as a power filter, an inductor, and a capacitor to convert an external input AC220V AC power supply into a DC24V DC power supply required by a control circuit board and other electronic components.

[0017] The control circuit board 110 is used to receive, process and transmit signals to control the operation of the entire system. Specifically, the control circuit board 110 receives a 4-20mA current signal from a primary instrument containing the liquid level information of the water tank through an interface, and processes the received signal through a microcontroller (MCU) inside the circuit board, including filtering, amplification, analog-to-digital conversion (ADC), etc. Further, the microcontroller (MCU) chip calculates the amount of water corresponding to the liquid level based on the tank capacity curve of the water tank, and analyzes the data to determine whether an empty / full alarm signal needs to be issued. In this process, the control circuit board 110 also exchanges data with the host computer system through a communication interface (such as RS422 or CAN bus), sends processed liquid level and water volume information, and receives control instructions from the host computer.

[0018] The supporting motherboard 104 is fixedly connected to the housing 102 , and the power circuit board 108 and the control circuit board 110 are detachably connected to the supporting motherboard 104 , respectively.

[0019] Specifically, the support motherboard 104 and the housing 102 can be connected by mechanical fixing. For example, they can be connected by screws, buckles or welding to resist the vibration and impact that the underwater vehicle may encounter when sailing underwater, so as to ensure the stability and firmness of the internal structure of the entire device. Further, the power supply circuit board 108 and the control circuit board 110 are respectively detachably connected to the support motherboard 104, please refer to Figure 1d, a specific rectangular connector is used to connect the support motherboard 104 to the power circuit board 108 and the control circuit board 110 through the terminals of the rectangular connector, allowing the connection between the support motherboard 104 and these circuit boards to be both firm and easy to disassemble for maintenance and upgrading. It is also understandable that due to the detachable connection method, the assembly and disassembly of the components inside the device can be convenient. When the power circuit board or the control circuit board needs to be replaced or repaired, the rectangular connector of the corresponding circuit board can be removed by simply unplugging the rectangular connector of the corresponding circuit board from the corresponding rectangular connector terminal of the support motherboard. Optionally, since the rectangular connector is used for circuit connection, each rectangular connector can be set with different key positions according to different boards.

[0020] A power circuit 112 is disposed on the power circuit board 108 , and a control circuit 114 is disposed on the control circuit board 110 .

[0021] The power circuit 112 may be a circuit part of the power circuit board 108 for providing and distributing power. Specifically, the power circuit 112 converts the external input AC220V AC power into the DC24V DC power required by the control circuit board and other electronic components. Figure 1e The power supply circuit 112 includes a voltage conversion chip U2, one end of which is suitable for connecting an external input AC220V AC power supply, and outputting a DC24V DC power supply after voltage conversion to power the control circuit board and other electronic components. Optionally, the power supply circuit 112 also includes an overvoltage suppression unit 107, which is located between the external input power supply and the voltage conversion chip U2, and is used to protect electronic equipment from voltage spikes and overvoltage damage. Among them, the overvoltage suppression unit 107 includes a rear film fuse SVR240-100, which serves as an insurance. When the voltage exceeds a certain value, its resistance value will drop sharply, thereby limiting the further increase of the voltage and protecting the subsequent circuit from high voltage damage. The overvoltage suppression unit 107 also includes a varistor FTR14D471K, which can quickly turn on when a voltage spike occurs, and guide the overvoltage to the ground, thereby protecting the circuit. Furthermore, the externally input AC220V AC power is input to the EMC filter U1 after passing through the overvoltage suppression unit 107. The EMC filter U1 reduces the clutter interference again and inputs the processed power to the voltage conversion chip U2 to finally convert the AC220V power supply into DC24V to power the various systems and sub-components of the liquid level metering device. Optionally, the power supply circuit 112 may also include a power light 108, which lights up when the power supply circuit is working normally and turns off when the power supply circuit is not working normally.

[0022] The control circuit 114 may refer to a circuit part that controls the operating state of each part of the liquid level metering device according to an input signal, a preset program or an external instruction to perform a specific task or action. Figure 1f The control circuit 114 includes an external primary meter power supply unit 109, a signal acquisition unit 111, an MCU chip 113, a storage unit 115, a self-test unit 117, a communication unit 119 and an LED control unit 121. The external primary meter power supply unit 109, the signal acquisition unit 111, the storage unit 115, the self-test unit 117, the communication unit 119 and the LED control unit 121 are connected to the MCU chip 113 respectively.

[0023] The external primary instrument power supply unit 109 may refer to a circuit structure responsible for supplying power to the external primary instrument so that the external primary instrument can work normally. Among them, the external primary instrument may refer to a sensor or transmitter directly installed in a water tank or a liquid storage container for measuring the liquid level. Specifically, the external primary instrument can convert the change of the liquid level into an electrical signal based on the collected data for subsequent processing and application. Exemplarily, the external primary instrument can be a float-type liquid level gauge that uses the up and down movement of a float to measure the liquid level, and the position of the float is mechanically converted into an electrical signal; the external primary instrument can also be a pressure-type liquid level gauge that measures the liquid level through a pressure sensor based on the relationship between the static pressure of the liquid and the liquid level height. Further, the external primary instrument power supply unit 109 includes an isolated voltage-stabilized output power supply module, one end of which is suitable for connection to the output of the power supply circuit, and the other end is suitable for connection to the external primary instrument, which is used to isolate and stabilize the DC24V DC power provided by the power supply circuit and supply it to the external primary instrument. Exemplarily, the isolated voltage-regulated output power supply module may adopt a CFDA30-24S24DC power module type DC / DC isolation regulator.

[0024] The signal acquisition unit 111 may refer to a circuit structure having one end suitable for connection with an external primary instrument and the other end suitable for connection with the MCU chip 113, for collecting a 4-20 mA current signal from the primary instrument, and performing preliminary processing on the current signal and inputting the current signal into the MCU chip 113. Optionally, the signal acquisition unit 111 may include a signal isolation module and an analog-to-digital conversion module.

[0025] The MCU chip 113 may refer to a circuit component connected to all other units for processing all input signals, executing control algorithms, making decisions, and controlling outputs. Specifically, the MCU chip 113 may receive signals containing the liquid level information of the water tank collected by the signal acquisition unit 111, filter and correct these signals through software based on the software program pre-burned therein, and send them to the host computer for subsequent further data processing. The MCU chip 113 may also control other units to work in coordination according to the pre-burned program instructions to ensure that the liquid level metering device can be in a normal working state, and further realize the measurement of the liquid level and capacity of the water tank of the underwater vehicle. Exemplarily, the CS32F103VB chip of China Electronics 58 Institute can be selected as the MCU chip 113. The MCU chip uses a high-performance ARM Cortex-M3 32-bit RISC core with a maximum operating frequency of 72Mhz and built-in high-speed memory (up to 128K bytes of flash memory and 20K bytes of SRAM), and has a wealth of enhanced I / O ports and many peripherals connected to two APB buses, including 2 12-bit ADCs, 3 general 16-bit timers and 1 PWM timer. In addition, it also includes many standard communication interfaces: 2 I2C interfaces and SPI interfaces, 3 USART interfaces, 1 USB interface and 1 CAN interface.

[0026] The storage unit 115 may be a circuit structure for storing system configuration data, historical records, calibration parameters and other information. Specifically, the storage unit 115 and the MCU chip 113 are connected to each other using an IIC interface, allowing the MCU chip 113 to read and write stored data, thereby realizing data storage and retrieval. Exemplarily, the storage unit 115 may use a BL24CM1A type EEPROM memory, which has a storage capacity of 1M bit, an erase and write number of up to 1 million times, and a data retention time of more than 100 years, which can ensure that data can be effectively stored even when the MCU chip loses power.

[0027] The self-check unit 117 can be based on the external self-check switch signal to start the system self-check operation to check whether each part is working properly, so that the MCU chip can report the wrong circuit structure to the upper computer when a fault is found. For example, please refer to Figure 1g, the self-test unit 117 may include a protection circuit module 123 and an RC filter circuit module 125. Among them, the protection circuit module 123 is composed of transient voltage suppression diodes TVS1 and TVS2, which are connected in parallel in the circuit to protect the subsequent circuit from being damaged by excessive voltage. R7, R8, R10 and R11 and C13, C15, C16 and C17 constitute the RC filter circuit module 125. Specifically, R7 and R8 form an RC filter circuit with C13 and C15 respectively, which is used to filter out the noise on the ZC-IN and ZI-IN lines. Similarly, R10 and R11 form an RC filter circuit with C16 and C17 to filter out the noise on the ZC and ZI lines. Further, the external self-test switch signal is input to the self-test unit 117, and after passing through the protection circuit module 123 and the RC filter circuit module 125, the switch signal of the external self-test switch is sent to the MCU chip 113 via the connection terminal and the MCU chip 113 performs a self-test operation.

[0028] The communication unit 119 may refer to a circuit structure for communicating data with a host computer or other external devices, sending measurement results and receiving control instructions. Specifically, the communication unit 119 is connected to the MCU chip 113 for communication to achieve data transmission and reception.

[0029] The LED control unit 121 may refer to a circuit structure for controlling the state of an LED indicator light to display system status information and alarm information. Specifically, the LED control unit 121 is connected to the MCU chip 113, and the MCU chip 113 controls the on and off of the LED according to the system status. For example, please refer to Figure 1h The LED control unit 121 includes a conversion optical coupling isolation module 127 composed of an optical coupler 129 and a photosensitive receiver 131. The optical coupler 129 can be a light emitting diode for modulating the control signal output by the MCU, and the photosensitive receiver 131 can be a photosensitive transistor or a photosensitive diode for demodulating the signal and converting it into a corresponding electrical signal to drive the LED.

[0030] The housing 102 includes a control panel 116 .

[0031] The control panel can be a user interface that allows operators to monitor the status of the device and detect, set and control the working status of the liquid level metering device. Figure 1b The control panel 116 is provided with an external connector 118, a power switch 120, a self-test switch 122 and an operation status indicator light 124.

[0032] The external connector 118 may be a connector for connecting an external device or system. For example, the external connector may be a circular connector of the Y27 series of Zhengzhou Aerospace. Specifically, the external connector 118 is connected to the support motherboard 104 inside the housing 102 through a terminal to ensure that external devices such as sensors, power signal and communication cables are connected to the internal circuit of the device and perform data transmission, power supply and communication. Exemplarily, the external connector for connecting to an external AC220 power supply can be a three-core circular connector of Y27G-1203ZJBM-B+Y27G-1203TKL-B+Y27-12III-B; the external connector for connecting to an external primary instrument can be a ten-core circular connector of Y27G-1610ZJBM-B+Y27G-1610TKL-B+Y27-16III-B; the external connector for connecting to a host computer can be a four-core circular connector of Y27G-1204ZJBM-B+Y27G-1204TKL-B+Y27-12III-B. The control circuit board inside the housing 102 is connected to the corresponding communication terminals on the support motherboard 104, and transmits data information to the host computer connected to the external connector to realize data communication and transmission.

[0033] The power switch 120 may refer to a button switch for allowing an operator to turn on or off the power of the device. Specifically, the power switch 120 is connected to a corresponding switch rectangular terminal on the support motherboard 104 inside the housing 102, and is further connected to a power switch in the power filter 106 to control the power supply of the entire device. Exemplarily, the button switch of Shanghai Xingyu KN11-101 can be selected as the power switch 120.

[0034] The self-check switch 122 may refer to a button switch for starting the liquid level metering device to perform a self-check operation to check the working state and performance of the device. Similarly, a button switch of Shanghai Xingyu KN11-101 may be selected as the self-check switch 122.

[0035] The operating status indicator light 124 may refer to an LED light element used to provide visual feedback and indicate the current operating status of the device, and may display the operating status of the liquid level metering device, such as normal operation, fault or self-test.

[0036] The external connector 118 , the power switch 120 , the self-test switch 122 , and the operation status indicator light 124 are respectively connected to the supporting motherboard 104 .

[0037] Exemplarily, the external primary instrument is connected to the external primary instrument input rectangular terminal corresponding to the support motherboard 104 inside the housing 102 through an external connector, and then the 4-20mA current signal containing the liquid level information of the water tank is input into the control circuit board and subsequently processed. The external AC220 AC power supply is connected to the power supply rectangular terminal corresponding to the support motherboard 104 inside the housing 102 through an external connector to input into the power filter, and further powered for the entire device after processing. The control circuit board inside the housing 102 is connected to the corresponding self-checking rectangular terminal on the support motherboard 104, and further, the signal of the self-checking operation is input into the self-checking unit 117 in the control loop 114 to start the built-in self-checking program. The operating status indicator light 124 can be connected to the corresponding indicator light rectangular terminal on the support motherboard 104 inside the housing 102, and further, it is controlled by the LED control unit 121 and the MCU chip 113 in the control loop 114 to light up or extinguish the corresponding LED light according to the different operating states of the liquid level metering device.

[0038] When the liquid level metering device is in working state, the power switch, the power filter, the power circuit, the control circuit and the operating status indicator light form a series system.

[0039] Among them, the series system can be used to describe that the circuit components of the power switch 120, the power filter 106, the power circuit 112, the control circuit 114 and the operating status indicator 124 are connected in sequence when the entire liquid level metering device 100 is operating normally, that is, to achieve the liquid level measurement of the water tank of the underwater vehicle, each of the above circuit components needs to work normally. The failure or disconnection of any component will cause the entire system to be interrupted and affect the normal operation of the device. Specifically, in the above series system, if the liquid level measurement process of the water tank of the underwater vehicle is to be carried out, first, the power switch needs to be turned on so that the external AC220 DC power supply is input to the power filter to filter out the noise and interference on the power line to ensure the stability of the power supply. Secondly, the power circuit performs power conversion and distribution circuits on the external AC220 DC power supply, which is responsible for converting the filtered power supply into the voltage required by the device and distributing it to the control circuit 114 and other components of the liquid level metering device. The control circuit receives the 4-20mA current signal from the primary instrument containing the liquid level information of the water tank, and processes the received signal through the MCU chip inside the control circuit, including filtering, amplification and analog-to-digital conversion. Furthermore, the MCU chip calculates the amount of water corresponding to the liquid level based on the tank capacity curve of the water tank, and analyzes the data to determine whether an empty / full alarm signal needs to be issued. Optionally, when the system is working normally, the operating status indicator light of the corresponding module can remain on.

[0040] Based on this, the reliability block diagram of the series system can be referred to Figure 1iIt can be understood that the device failure rate of the liquid level metering device 100 is obtained by summing the component failure rates of each component in the liquid level metering device. Specifically, its basic reliability model is as follows: Among them, λ S is the failure rate of the entire liquid level measuring device; i is the failure rate of the i-th unit in the liquid level measuring device.

[0041] It is understandable that since the power switch, power filter, power circuit, control circuit and operating status indicator light form a series system, any component failure must be replaced. The mean time between failures can be used as a reliability indicator for the level metering device. Since the mean time between failures of the level metering device is determined based on the inverse of the device failure rate, the MTBF calculation formula for the level metering device can be shown as follows: Where MTBF is the failure interval of the liquid level measuring device; λ S is the failure rate of the entire liquid level measuring device; i is the failure rate of the i-th unit in the liquid level measuring device.

[0042] In the above embodiment, a liquid level metering device for the water tank of an underwater vehicle is proposed for the underwater extreme environment, including a housing, a supporting motherboard, a power filter, a power circuit board and a control circuit board; the supporting motherboard, the power filter, the power circuit board and the control circuit board are arranged in the housing. The power circuit board and the control circuit board are detachably connected to the supporting motherboard respectively. A power circuit is arranged on the power circuit board, and a control circuit is arranged on the control circuit board; the housing includes a control panel; an external connector, a power switch, a self-test switch and an operating status indicator light are arranged on the control panel, and the external connector, the power switch, the self-test switch and the operating status indicator light are connected to the supporting motherboard respectively. When the liquid level metering device is in working state, the power filter, the power circuit, the control circuit, the self-test switch and the operating status indicator light form a series system; the device failure rate of the liquid level metering device is obtained by summing the component failure rate of each component in the liquid level metering device, and the average failure interval time of the liquid level metering device is determined based on the inverse of the device failure rate. So far, the reliability and accuracy of the liquid level metering device for the water tank of the underwater vehicle under extreme conditions are improved, and the stability and controllability of the underwater vehicle are further ensured.

[0043] In some embodiments, it should be understood that since the external connector, the power switch, the self-test switch, and the operating status indicator light are respectively connected to the support motherboard, and the support motherboard is fixedly connected to the housing, and the power circuit board and the control circuit board are respectively detachably connected to the support motherboard, the durability of the support motherboard is a key factor affecting the service life of the liquid level metering device, because the quality and life of the support motherboard are directly related to the reliability and long-term performance of the entire liquid level metering device.

[0044] Based on this, a method is proposed to analyze the quality and service life of the support motherboard from multiple dimensions to extend the service life of the support motherboard. It includes: S110, obtaining preset dimensional feature data of a supporting motherboard in multiple preset dimensions.

[0045] The plurality of preset dimensions may be a plurality of attribute dimensions predefined in the analysis process for evaluating different aspects of the quality and service life of the support motherboard. The preset dimension feature data may be feature data for quantitatively evaluating the ability of different preset dimensions to cause a specified type of damage to the support motherboard. The specified type of damage may be understood as the damage to the support motherboard caused by the liquid level metering device when the underwater vehicle is navigating underwater and the liquid level metering device is within an improper parameter range on the preset dimension.

[0046] How to select the preset dimension is exemplarily described. Since the liquid level metering device is applied to an underwater underwater vehicle environment, the preset dimension may be a material property, and the preset dimension feature data may be material property data, including tensile strength, temperature resistance range, corrosion resistance, etc. of the material used for the supporting motherboard; Similarly, the preset dimension may also be a design parameter attribute, and the preset dimension characteristic data may be design parameter data, including stress distribution of the supporting motherboard structure, durability test results, etc.; The preset dimension may also be a manufacturing process attribute, and the preset dimension feature data may be manufacturing process data, including welding quality of the support motherboard, material processing accuracy, etc. Specifically, the preset dimension feature data of the support motherboard in multiple preset dimensions may be obtained by pre-testing a test board made of the same material as the support motherboard in an underwater environment with the sample.

[0047] S120: Analyze and process all preset dimension feature data to obtain target integrated feature data.

[0048] Among them, the target integrated characteristic data can be used to describe the data set obtained after comprehensive analysis and processing of multiple preset dimensional characteristic data of the supporting motherboard, which reflects the key characteristics and performance indicators of the supporting motherboard analyzed from multiple angles, and can be used to further analyze and evaluate the service life of the supporting motherboard.

[0049] Specifically, operations such as data cleaning and normalization can be performed on each preset dimension feature data to ensure data consistency and comparability. Furthermore, correlation analysis can be used based on the Pearson correlation method to extract the key features that best represent the quality and service life of the supporting motherboard from the original data by comparing the correlation values, and remove the error values ​​with low correlation. Finally, feature fusion is performed on the extracted multiple preset dimension feature data to obtain target integrated feature data of multiple preset dimensions that can reflect the quality and service life of the supporting motherboard.

[0050] S130 , based on the target integrated feature data, perform similarity analysis with the first integrated feature data to obtain first similarity data; perform similarity analysis with the second integrated feature data to obtain second similarity data.

[0051] Among them, the first integrated feature data and the second integrated feature data are two specific data sets, which can respectively represent the integration of the test result data of healthy and unhealthy supporting motherboards in all preset dimensions. Exemplarily, the first integrated feature data may refer to a set of test and measurement data collected from a healthy supporting motherboard, including all preset dimensions. The first integrated feature data may reflect the performance characteristics of the supporting motherboard under optimal or standard working conditions. Conversely, the second integrated feature data may refer to a set of test and measurement data collected from an unhealthy supporting motherboard, including all preset dimensions. The second integrated feature data may reveal the performance characteristics of the supporting motherboard in a non-optimal or faulty state.

[0052] Further, based on the target integrated feature data, similarity analysis is performed with the first integrated feature data and the second integrated feature data to obtain first similarity data and second similarity data. The first similarity data and the second similarity data can be similarity values, which can be used to evaluate the similarity between the target integrated feature data and the test data in the healthy state and the unhealthy state.

[0053] S140: Obtain target evaluation data based on the first similarity data and the second similarity data.

[0054] Among them, the target evaluation data can be data reflecting the comprehensive evaluation of the health status, performance level and potential risks of the supporting motherboard. Exemplarily, the target evaluation data can be healthy or unhealthy; the target evaluation data can also be health level data, including a first-level health level reflecting that the supporting motherboard is very healthy and does not require maintenance, a second-level health level reflecting that the supporting motherboard is relatively healthy but needs to be inspected, a third-level health level reflecting that the supporting motherboard needs to be repaired, a fourth-level health level reflecting that the supporting motherboard is not healthy and urgently needs to be repaired, and a fifth-level health level reflecting that the supporting motherboard has failed. Further, based on the target evaluation data, the operation and maintenance personnel can be guided to carry out the maintenance work of the underwater vehicle water tank liquid level metering device to ensure that it can operate normally. Similarly, it is also possible to determine the operating mode suitable for the underwater vehicle water tank liquid level metering device based on the target evaluation data, and use the corresponding control measures to guide the subsequent operation plan of the underwater vehicle water tank liquid level metering device, so as to achieve the technical effect of extending the life of the supporting motherboard.

[0055] In the above-mentioned embodiment, by collecting and analyzing characteristic data of multiple preset dimensions, based on different integrated characteristic data including the comprehensive performance of healthy and unhealthy supporting motherboards, the quality and service life of the supporting motherboard are comprehensively evaluated, so that corresponding measures are taken to extend its service life, and further, the reliability and accuracy of the water tank liquid level measuring device of the underwater vehicle under extreme conditions are improved, and the stability and maneuverability of the underwater vehicle are further ensured.

[0056] In some embodiments, the supporting motherboard has an RS422 communication port and a CAN communication port, and the control circuit board is provided with an RS422 communication circuit and a CAN communication circuit.

[0057] The RS422 communication port may be a rectangular terminal for implementing serial communication in the RS422 standard. The RS422 communication circuit may be a circuit portion located on a control circuit board for encoding and decoding communication signals according to the RS422 standard. Further, the RS422 communication circuit is connected to the RS422 communication port. For example, the RS422 communication circuit uses two GLb2682P RS422 transceivers, taking one as an example, Figure 2a This is the circuit diagram of the RS422 communication circuit on the control circuit board. Please refer to Figure 2aThe transceiver is a highly integrated high-speed 16Mbps RS422 bus transceiver that complies with ANSITIA / EIA-485-A-98 and ISO 8482:1987(E) standards and supports bus pins with over ±8kV ESD protection as well as signal and power isolation. Optionally, the transceiver also integrates a 3-channel isolator, a tri-state differential line driver, a differential input receiver, and an isolated DC-DC converter, so it can be powered by a single 3.3V power supply to achieve a fully integrated signal and power isolation RS-422 solution, ensuring the reliability of data communication of underwater vehicle tank level measurement devices under extreme conditions.

[0058] Similarly, the CAN communication port can be a rectangular terminal for implementing the communication function of the CAN protocol. The CAN communication circuit can be a circuit part located on the control circuit board for processing signals that comply with the CAN protocol, managing the sending and receiving of data frames on the network, and ensuring the coordination and consistency of data communication between nodes on the network. Further, the CAN communication circuit is connected to the CAN communication port. Exemplarily, Figure 2b This is the circuit diagram of the CAN communication circuit on the control circuit board, please refer to Figure 2b The CAN communication circuit uses a GLb3053P CAN transceiver, which is a fully integrated isolated controller area network (CAN) physical layer transceiver. The chip integrates an isolated DC / DC power supply inside the chip and complies with the ISO11898-2 standard. The chip integrates the digital isolator, CAN transceiver and isolated DC / DC in a single chip package. The internal DC / DC power supply is powered by 5V, providing a fully isolated CAN communication solution. Optionally, GLb3053P creates a fully isolated interface between the CAN protocol controller and the physical layer bus, achieving communication at a data rate of up to 1Mbps, ensuring the reliability of data communication of the underwater vehicle tank level measurement device under extreme conditions.

[0059] In the above implementation, two communication modes, RS422 communication and CAN communication, are provided, and the two communication modes are independent of each other and do not affect each other. It is suitable for point-to-multipoint, long-distance and high anti-interference requirements and meets the network environment of multi-master control, high reliability and real-time requirements. It constitutes a redundant communication mode, that is, if one communication mode has a problem, the other can be used as a backup, ensuring the continuity and reliability of communication, which is crucial for underwater vehicles, which have extremely high requirements for safety and stability.

[0060] In some implementations, the RS422 communication port and the CAN communication port both correspond to an operation status indicator light.

[0061] The operating status indicator light may refer to an LED light element used to provide visual feedback and indicate the current operating status of the device, and may display the operating status of the liquid level metering device, such as normal operation, failure or self-test. For example, the red LED light of the Hongbo GQ8T-D / R / DC24V / S may be used as the operating status indicator light.

[0062] Specifically, the RS422 communication port and the CAN communication port are both in a non-working state, and the operating status indicator light is off or flashing. For example, when the RS422 communication port and the CAN communication port are both inactive or not transmitting data, the operating status indicator light may be off or indicate no communication activity; when one of the RS422 communication port or the CAN communication port is in a working state and transmitting data, the operating status indicator light may be in a stable light-up state to indicate communication activity; if one of the RS422 communication port and the CAN communication port is in a non-working state or both the RS422 communication port and the CAN communication port are in a fault state, the operating status indicator light may flash in different ways to indicate a fault or abnormality, to remind the operator that there is no communication activity at present.

[0063] In the above implementation, the circuit status is indicated by the operation status indicator light, which provides an intuitive way to monitor the communication status of the device. When different communication failures occur, the operator can also quickly identify the problem through the status of the indicator light, which enhances the interactivity between the operator and the device. At the same time, by sharing a single operation status indicator light, the space and resources are maximized, which is more suitable for the limited environment inside the underwater vehicle.

[0064] In some embodiments, the supporting motherboard is provided with a first rectangular terminal and a second rectangular terminal, wherein the first rectangular terminal is adapted to the power circuit board, and the second rectangular terminal is adapted to the control circuit board.

[0065] The first rectangular terminal and the second rectangular terminal can be connection ports of a specific rectangular connector. With a specific rectangular connector, the support motherboard is plug-connected to the power circuit board through the first rectangular terminal and plug-connected to the control circuit board through the second rectangular terminal. When the power circuit board or the control circuit board needs to be replaced or repaired, the circuit boards can be taken out by simply unplugging the rectangular connector of the corresponding circuit board from the rectangular connector terminal corresponding to the support motherboard. Optionally, the first rectangular terminal and the second rectangular terminal can be set with different key positions according to different boards. For example, Figure 3a This is the circuit schematic of the first rectangular terminal. Figure 3b This is the circuit diagram of the second rectangular terminal, please refer to Figure 3a and Figure 3bIt can be seen that the rectangular terminals adapted to different circuit boards are different, so the plug-in methods of each circuit board on the supporting motherboard are also different.

[0066] In the above embodiment, by using rectangular terminals adapted to different circuit boards, the design achieves a high degree of modularity, simplifying the replacement and upgrade process of the circuit board. And because each circuit board only needs to be connected to the corresponding rectangular terminal, no complicated hard-wire connection is required, allowing technicians to quickly assemble and maintain the device. At the same time, failures caused by hard-wire connection errors are reduced, thereby improving reliability, and the terminal connection usually has a locking mechanism to prevent accidental disconnection or poor contact.

[0067] In some embodiments, a third rectangular terminal is disposed on the supporting motherboard, and there are multiple external connectors, which are suitable for connecting a sensor for measuring water level, and the external connector is connected to the third rectangular terminal.

[0068] Similarly, the third rectangular terminal may also be a connection port of a specific rectangular connector for connecting multiple external connectors. The external connector may be a circular connector for connecting an external device or system, suitable for connecting multiple sensors for measuring water level, that is, multiple external primary meters. For example, please refer to Figure 4 The third rectangular terminal can adopt the terminal models RC045-8ZJB, RC045-6ZJB and RC045-10ZJB. Eight external primary instruments (sensors) are connected to different corresponding third rectangular terminals on the supporting motherboard 104 inside the shell 102 through an external connector, and then the 4-20mA current signal containing the liquid level information of the water tank is input into the control circuit board for subsequent processing.

[0069] Optionally, the sensor for measuring the water level can also adopt a water level detection device, including multiple detection submodules, a processing module and a pre-cache unit, and each detection submodule includes a signal conversion unit. Among them, the signal conversion unit and the pre-cache unit have a first transmission path. Specifically, each detection submodule converts the water level analog signal into a recordable digital electrical signal through a built-in signal conversion unit to obtain water level data. Then the processor in the water level detection device writes the water level data converted by the multiple signal conversion units into the pre-cache unit or reads the water level data from the pre-cache unit through the first transmission path. Then output the water level data in the pre-cache unit to the data processing module through the second transmission path. Among them, the data processing module may include a microcontroller for amplifying, filtering and converting the input water level data. Further, after the water level data is processed by the microcontroller in the data processing module, 4-20mA current data for reflecting the water level information is output, and finally input into the control circuit board through the external connector via the third rectangular terminal for subsequent processing.

[0070] In the above-mentioned embodiment, in order to meet various needs of the underwater vehicle water tank level measuring device in practical applications and ensure the flexibility, reliability and accuracy of the device, multiple external primary instruments are used, and there are corresponding multiple external connectors. If a sensor or connector fails, the problem can be quickly located and replaced or repaired without disassembling the entire system.

[0071] In some embodiments, a signal isolation module and an analog-to-digital conversion module are provided on the control circuit board. The analog-to-digital conversion module is connected to the MCU chip in the control loop. The signal isolation module is configured to separate, distribute and convert the instrument signal collected by any sensor to obtain an isolated signal. The analog-to-digital conversion module is configured to convert the isolated signal into a digital output. The digital output is transmitted to the MCU chip, and the MCU chip is configured to control the lighting state of the operating status indicator light corresponding to any sensor based on the digital output.

[0072] Among them, the signal isolation module may refer to a circuit module on the control circuit board used to provide electrical isolation, protect circuits and equipment, and prevent electrical faults and interference. Specifically, one end of the signal isolation module is connected to the corresponding external connector via the third rectangular terminal on the supporting motherboard, and is suitable for connecting to the corresponding external primary instrument. The other end is connected to the analog-to-digital conversion module, which is used to receive the instrument signal collected by any sensor and separate, distribute and convert it, and transmit the isolated signal to the analog-to-digital conversion module for subsequent processing. Exemplarily, the ISOEM-A7-P1-O7 chip can be selected as the signal isolation module, which integrates a multi-isolated DC / DC conversion power supply and a group of magnetoelectrically coupled analog signal isolation transmitters on the same chip. The wide creepage distance on the input and output sides and the internal isolation measures enable the chip to achieve 3KVDC triple isolation insulation between the auxiliary power supply and the signal input and signal output, and realize the functions of isolating, distributing and converting the signals of each primary instrument. Optionally, please refer to Figure 5 In the signal isolation module, transient voltage suppression diodes TVS3 and TVS11 are also added, which are connected in parallel in the circuit to form a protection circuit to ensure that the subsequent circuit will not be damaged by excessive voltage.

[0073] The analog-to-digital conversion module may refer to a circuit module that converts an analog signal into a digital signal, that is, converts an isolated signal into a digital output. Specifically, one end of the analog-to-digital conversion module is connected to the output of the signal isolation module, and the other end is suitable for connecting the MCU chip in the control loop. Exemplarily, the analog-to-digital conversion module can use the CL1606 chip as its analog-to-digital conversion ADC chip, which has a built-in second-order anti-aliasing filter, a tracking and holding amplifier, a 16-bit charge redistribution successive approximation analog-to-digital converter (ADC), a flexible digital filter, a 2.5V reference voltage source, a reference voltage buffer, and a high-speed serial and parallel interface. All channels of the chip can be sampled at a throughput rate of up to 200kSPS. The analog input impedance of CL1606 is 1MΩ. It adopts a single power supply operation mode, has on-chip filtering and high input impedance, so there is no need to drive an operational amplifier and an external bipolar power supply. The 3dB cutoff frequency of the CL1606 anti-aliasing filter is 22kHz, and it also has anti-aliasing suppression characteristics at a high sampling rate. And its digital filter is pin-driven, which can improve the signal-to-noise ratio and reduce the 3dB bandwidth. Furthermore, the analog-to-digital conversion module converts the isolated 4-20mA current signal into a 0 to ±5V voltage signal, and then converts the voltage signal through a high-precision ADC chip to obtain a digital signal. Furthermore, the digital signal after analog-to-digital conversion will be transmitted to the MCU chip for subsequent data processing and analysis.

[0074] Optionally, in order to eliminate the interference caused by pulses during the transmission of instrument data, when the MCU chip is used to perform secondary processing on the digital signal after analog-to-digital conversion, the "limited average filtering method" can be used based on software to filter the data to avoid abnormal display of background data jumps due to accidental pulses. Exemplarily, the design of the limited average filtering method can include the following steps: first, based on empirical judgment, determine the maximum deviation value A allowed for two samples; if the difference between the new sampling value and the last filtering result is ≤A, the current sampling value is valid, and the current filtering result is set to the new sampling value; if the difference between the new sampling value and the last filtering result is >A, the current sampling value is invalid, and the new sampling value is abandoned, and the current filtering result is set to the last filtering result; further, the N sampled values ​​collected are regarded as a queue with a fixed length of N, and 1 new data sampled each time is placed at the end of the queue, and the original data at the head of the queue is discarded (first-in-first-out principle), and finally the N data in the queue are averaged to obtain new filtered data. Based on the above-mentioned limited average filtering method, the sampling value deviation caused by pulse interference can be eliminated.

[0075] Optionally, there is a corresponding operating status indicator light based on the instrument signal collected by each sensor, which is used to reflect whether the signal is transmitted normally. Specifically, based on the digital signal via the signal isolation module and the analog-to-digital conversion module, when the instrument signal containing the liquid level information of the water tank collected by any sensor is input to the MCU chip, when there is no such signal input or the input signal exceeds the normal data collection range, the MCU chip will control the corresponding operating status indicator light of any sensor to light up or flash. It can be understood that if the instrument signal containing the liquid level information of the water tank collected by a certain sensor is input to the MCU chip but there is no such signal input, the reason may be that the external primary instrument power supply fails, so in the external primary instrument power supply unit, each circuit has a corresponding operating status indicator light to show whether the primary instrument power supply is normal; similarly, when the input collected by a certain sensor to the MCU chip exceeds the normal data collection range, the MCU chip can also control the same operating status indicator light corresponding to any sensor to light up or flash to warn of the fault.

[0076] In the above implementation, the signal isolation module first isolates the sensor signal, then the analog-to-digital conversion module converts these isolated analog signals into digital signals, and finally the MCU chip controls the lighting state of the status indicator according to these digital signals, thereby achieving real-time monitoring and feedback of the sensor operation status. This design ensures the accuracy of signal processing and the reliability of the system. In addition, each sensor and the corresponding indicator light can be regarded as a module, which is easy to manage and replace independently.

[0077] In some embodiments, the instrument signal collected by any sensor corresponds to a preset collection data range. When the instrument signal is within the preset collection data range, the operating status indicator light corresponding to any sensor is turned off.

[0078] When the instrument signal does not fall within the preset data collection range, the operating status indicator light corresponding to any sensor flashes.

[0079] The preset data collection range may be a normal working parameter range or threshold range set based on the instrument signal collected by each sensor. For example, the data range expected to be measured by each sensor under normal working conditions, such as the calculated liquid level height range or liquid volume range, may be used as the preset data collection range; or the 4-20mA current signal range containing the liquid level information of the water tank collected by an external primary instrument may be used as the preset data collection range.

[0080] Specifically, the signal collected by the external instrument can be transmitted to the host computer once every period of time, and the data and status of the equipment operation can be displayed in real time on the host computer. At the same time, based on safety and operation requirements, the high and low value limits set for the sensor output are used to determine whether the sensor is working normally. Further, if the instrument signal corresponding to any sensor is within the preset collection data range, the corresponding operation status indicator light is in an off state; if the instrument signal corresponding to any sensor does not belong to the preset collection data range, the corresponding operation status indicator light is in a flashing state. For example, the 4-20mA current signal interval is taken as the preset collection data range. When the instrument signal corresponding to a certain sensor is within the range of 4-20mA, it can be considered to be in a normal working state, and the corresponding operation status indicator light remains off; when the instrument signal corresponding to a certain sensor is less than 40mA or greater than 20mA, it is determined to be in an abnormal state, and the corresponding operation status indicator light starts to flash.

[0081] In the above implementation, by transmitting signals to the upper computer in real time and setting a preset data collection range, the sensor reading is monitored in real time, and the display mode of the operating status indicator light is determined according to whether the reading is within the range, that is, by setting a preset data collection range, the underwater vehicle water tank level metering device can ensure that the output of the sensor is within a controllable and predictable range, ensuring the validity and accuracy of the sensor data, and enhancing the reliability and safety of the entire system. This design plays a key role in early detection of potential problems and prevention of failures.

[0082] In some embodiments, the MCU chip is connected to the host computer for communication. When the instrument signal is lower than the lower limit of the preset data collection range, the host computer receives and displays the disconnection alarm signal sent by the MCU chip. When the instrument signal exceeds the upper limit of the preset data collection range, the host computer receives and displays the over-range alarm signal sent by the MCU chip.

[0083] The host computer may refer to a computer or control device in a control device or a metering device that is responsible for issuing control instructions and processing data. For example, the host computer may be a personal computer, a workstation, a PLC (programmable logic controller) or other industrial control equipment that runs specific software to manage a device that measures the liquid level capacity of a water tank of an underwater vehicle.

[0084] Exemplarily, the sensor continuously monitors the liquid level of the water tank and sends an analog signal to the control circuit board. The signal isolation module and the analog-to-digital conversion module perform preliminary processing on the sensor and convert the analog signal into a digital signal and send it to the MCU chip for further processing. Further, the MCU chip evaluates whether the received signal is within the preset data acquisition range. If the instrument signal is lower than the lower limit of the preset range, the MCU chip identifies it as a disconnection alarm; if the instrument signal exceeds the upper limit of the preset range, the MCU chip identifies it as an over-range alarm. When the above alarm occurs, the MCU chip generates a corresponding alarm signal and transmits the alarm signal to the host computer through a communication interface (such as RS422 or CAN bus). Further, the host computer system is connected to the communication rectangular terminal on the support motherboard through an external connector and a corresponding communication, receives the alarm signal from the MCU chip, processes the received alarm signal, and presents the alarm information on its display interface to remind the operator to check the status of the relevant sensor or system and take necessary measures.

[0085] In the above implementation, by displaying the alarm information in real time on the host computer interface, it is ensured that the operator can be notified in time when the sensor signal is abnormal. Based on the underwater vehicle water tank liquid level measurement device, accurate monitoring of liquid level information is ensured, and the operator is notified immediately when an abnormal situation occurs, thereby ensuring the safe operation and effective management of the underwater vehicle.

[0086] In some embodiments, a fourth rectangular terminal is provided on the supporting motherboard. There are multiple operating status indicator lights, and the multiple operating status indicator lights are connected to the fourth rectangular terminal.

[0087] Similarly, the fourth rectangular terminal can also be a connection port of a specific rectangular connector, which is used to connect multiple external connectors. Specifically, there are multiple operating status indicator lights, and multiple operating status indicator lights are connected to the fourth rectangular terminal. Exemplarily, Figure 6aThis is the circuit schematic diagram of the fourth rectangular terminal on the support motherboard. Figure 6b This is the circuit diagram of the operating status indicator light, please refer to Figure 6a and Figure 6b There can be 12 operating status indicator lights, among which LED1, LED2, LED3, LED4, LED5, LED6, LED7 and LED8 are used to indicate the operating status of eight external primary instruments respectively, LED9 is used to indicate the operating status of the control circuit board in the water tank level metering device, LED10 is used to indicate the self-test status of the water tank level metering device, LED11 is used to indicate the power status of the water tank level metering device, and LED12 is used to indicate the communication status of the water tank level metering device with the host computer. Specifically, when the power supply of the water tank level metering device is in a normal working state, LED11 is in a constant light state. When all eight external primary instruments are in a normal working state, LED1, LED2, LED3, LED4, LED5, LED6, LED7 and LED8 are all in an off state; when a certain external primary instrument is in a disconnected state, its corresponding LED is in a constant light state; when the instrument signal collected by a certain external primary instrument is outside the preset collection data range, its corresponding LED is in a flashing state. When the water tank level metering device is in the self-checking state, LED10 is always on; when the water tank level metering device is in the self-checking state and LED10 is always on, LED10 is flashing, indicating that the control circuit board is in normal working state. When the water tank level metering device and the host computer communicate data normally, LED12 is flashing; when the water tank level metering device and the host computer communicate data are in the interactive state, LED12 is off.

[0088] In the above embodiment, the real-time working status of the water tank level metering device is intuitively displayed through multiple operating status indicator lights, so that the operator can quickly identify the current status of the water tank level metering device, including the status of the sensor, power supply status, self-test activities, and communication status with the host computer. This clear indication system is essential to ensure the reliable operation and timely maintenance of the device. In addition, it also enhances the intuitiveness of the operation, reduces the risk of misoperation, and improves the safety and efficiency of the entire system.

[0089] In some embodiments, when the power switch is in the on state, the self-test switch is triggered, the first operating status indicator light corresponding to the self-test switch lights up, the liquid level metering device enters the self-test state, and the control circuit board runs a pre-burned self-test program, and sends the self-test results to the host computer, so that the host computer can determine whether the liquid level metering device is working normally based on the self-test results.

[0090] During the self-test process of the liquid level metering device, the second operating status indicator light corresponding to the self-test switch flashes.

[0091] The first operating status indicator light may be an operating status indicator light for indicating the self-checking status of the water tank level metering device, and the second operating status indicator light may be an operating status indicator light for indicating the operating status of the control circuit board in the water tank level metering device. The self-checking program may be a pre-designed program including functional tests of key components such as sensor readings, communication interfaces, and signal processing circuits.

[0092] Specifically, when the power switch is in the on state and the self-test switch is triggered, the first operating state indicator light corresponding to the self-test switch lights up, indicating that the liquid level metering device has entered the self-test state. Further, the MCU chip in the control circuit board starts to run the pre-burned self-test program. In this process, the control circuit board sends the self-test result to the host computer through the communication interface. At the same time, the host computer receives the self-test result and determines whether the liquid level metering device is working properly based on the received self-test result. If the self-test finds a problem, the host computer may display an error code or a warning message. Exemplarily, the self-test process can be carried out in accordance with the normal liquid level metering process, that is, an external primary instrument (sensor) monitors the liquid level changes in the water tank in real time and converts the liquid level changes into electrical signals. The electrical signal generated by the sensor is transmitted to the control circuit board through the corresponding rectangular terminal on the supporting motherboard via the external connector. The signal isolation module and the analog-to-digital conversion module in the control circuit board process it, and convert the isolated analog signal into a digital signal and input it into the MCU chip, so that the MCU chip processes it according to the preset algorithm and program, such as filtering, calibration, calculation, etc., and performs secondary processing on it, and sends the final processed liquid level information data to the host computer through the communication interface. The host computer receives the liquid level data, displays and records it. It can be understood that when the MCU chip sends the liquid level information data to the host computer, it can be sent according to a certain time pattern. When the host computer background system receives a data packet with a time pattern, the corresponding second operating status indicator light will be in a flashing state, that is, during the self-test process of the liquid level metering device, the second operating status indicator light flashes, proving that the operating function of the control circuit board is in a normal state.

[0093] In the above embodiment, a self-check process is designed to identify faults or abnormal conditions in the device, such as sensor disconnection, signal out of range, or communication failure, thereby allowing timely repair and replacement. At the same time, by performing self-checks regularly, preventive maintenance can be performed before the problem becomes a more serious failure, reducing unexpected downtime. Further, through this continuous process, the underwater vehicle tank level measurement device can ensure accurate monitoring and reporting of the tank level, ensure stable operation and accurate measurement of the device, and ensure the safety and efficiency of the underwater vehicle.

[0094] It should be understood that a liquid level measuring device for a water tank of an underwater vehicle in this embodiment is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above-mentioned functions.

[0095] The liquid level measuring device for the water tank of an underwater vehicle described in the above embodiment can be implemented by a computer chip or entity, or by a product with a certain function. A typical implementation device is a computer. Specifically, the computer can be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices. For the convenience of description, the above device is described separately by function into various units. Of course, when implementing this application, the functions of each unit can be implemented in the same or more software and / or hardware.

[0096] Those skilled in the art will appreciate that the embodiments of the present application may be provided as devices, methods, systems, or computer program products. Therefore, the present application may adopt the form of complete hardware embodiments, complete software embodiments, or embodiments in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0097] The present application is described with reference to the flow chart and / or block diagram of the apparatus, method, device (system), and computer program product according to the embodiment of the present application. It should be understood that each flow and / or box in the flow chart and / or block diagram, and the combination of the flow chart and / or box in the flow chart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device for implementing the function specified in one flow chart or multiple flows and / or one box or multiple boxes in the block diagram.

[0098] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0099] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0100] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0101] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. Since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0102] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

[0103] Although the embodiments of the present application are described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present application, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A liquid level measuring device for a water tank of an underwater vehicle, characterized in that: The device comprises a housing, a supporting motherboard, a power filter, a power circuit board and a control circuit board; the supporting motherboard, the power filter, the power circuit board and the control circuit board are arranged in the housing; the supporting motherboard is fixedly connected to the housing; The power circuit board and the control circuit board are respectively detachably connected to the supporting motherboard, wherein the power circuit board is provided with a power circuit, and the control circuit board is provided with a control circuit; The housing includes a control panel; the control panel is provided with an external connector, a power switch, a self-test switch and an operating status indicator light; the external connector, the power switch, the self-test switch and the operating status indicator light are respectively connected to the supporting motherboard; When the liquid level metering device is in working state, the power switch, the power filter, the power circuit, the control circuit and the operating status indicator light form a series system; wherein, the device failure rate of the liquid level metering device is obtained by summing the component failure rates of each component in the liquid level metering device, and the average failure interval time of the liquid level metering device is determined based on the inverse of the device failure rate.

2. The device according to claim 1, characterized in that The supporting motherboard has an RS422 communication port and a CAN communication port; The control circuit board is provided with an RS422 communication circuit and a CAN communication circuit; The RS422 communication circuit is connected to the RS422 communication port, and the CAN communication circuit is connected to the CAN communication port.

3. The device according to claim 2, characterized in that The RS422 communication port and the CAN communication port both correspond to an operation status indicator light; wherein, the RS422 communication port and the CAN communication port are both in a non-working state, and the operation status indicator light is off or flashing.

4. The device according to claim 1, characterized in that The supporting motherboard is provided with a first rectangular terminal and a second rectangular terminal; The first rectangular terminal is adapted to the power circuit board; The second rectangular terminal is adapted to the control circuit board.

5. The device according to claim 1, characterized in that The supporting motherboard is provided with a third rectangular terminal; the number of the external connectors is multiple, and the external connectors are suitable for connecting a sensor for measuring water level; The external connector is connected to the third rectangular terminal.

6. The device according to claim 5, characterized in that The control circuit board is provided with a signal isolation module and an analog-to-digital conversion module; the analog-to-digital conversion module is connected to the MCU chip in the control loop; The signal isolation module is configured to separate, distribute and convert the instrument signal collected by any sensor to obtain an isolated signal; The analog-to-digital conversion module is configured to convert the isolated signal into a digital output; wherein the digital output is transmitted to the MCU chip, and the MCU chip is configured to control the lighting state of the operating status indicator light corresponding to any sensor based on the digital output.

7. The device according to claim 6, characterized in that The instrument signal collected by any sensor corresponds to a preset collection data range; When the instrument signal is within the preset data collection range, the operating status indicator light corresponding to any sensor is turned off; When the instrument signal does not belong to the preset data collection range, the operating status indicator light corresponding to any sensor flashes.

8. The device according to claim 7, characterized in that The MCU chip is connected to the host computer for communication. When the instrument signal is lower than the lower limit of the preset data collection range, the host computer receives and displays the disconnection alarm signal sent by the MCU chip. When the instrument signal exceeds the upper limit of the preset data collection range, the host computer receives and displays the over-range alarm signal sent by the MCU chip.

9. The device according to claim 6, characterized in that A fourth rectangular terminal is provided on the supporting motherboard; there are multiple operating status indicator lights, and multiple operating status indicator lights are connected to the fourth rectangular terminal.

10. The device according to claim 1, characterized in that When the power switch is in the on state, the self-test switch is triggered, the first operating state indicator light corresponding to the self-test switch is lit, the liquid level metering device enters the self-test state, and the control circuit board runs the pre-burned self-test program, and sends the self-test result to the host computer, so that the host computer determines whether the liquid level metering device is working normally according to the self-test result; During the self-check process of the liquid level metering device, the second operating status indicator light corresponding to the self-check switch flashes.

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