Risk early warning intervention system for water jet propulsion device of unmanned ship and control method of risk early warning intervention system

Abstract

The invention belongs to the technical field of design and manufacturing of water jet propulsion type unmanned ships, and discloses an unmanned ship water jet propulsion device risk early warning intervention system and a control method thereof.The unmanned ship water jet propulsion device risk early warning intervention system comprises a ship body and a water jet propulsion device and further comprises an industrial personal computer and a control module, and the industrial personal computer is connected with the control module through a third signal cable; a flow channel is arranged in the water jet propulsion device; a pressure sensor is fixedly connected to the side wall of the end, close to the bottom of the boat body, of the flow channel. The pressure sensor is connected with the control module through a second signal cable; the stern of the boat body is further provided with a diesel engine coaxial with the water jet propulsion device, an ECU is installed nearby the broadside of the diesel engine, the diesel engine and the ECU are connected through an ECU wire harness, and the ECU is further connected with the control module through a first signal cable. The invention further designs a control method suitable for the system, and the problem that the blockage state of the water jet propulsion device cannot be analyzed, pre-warned and autonomously intervened through a state monitoring means is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of design and manufacturing of water jet propulsion type unmanned boats, and in particular to a risk early warning intervention system for an unmanned boat water jet propulsion device and a control method thereof. Background Art

[0002] An unmanned surface vessel (USV) is an unmanned surface vessel that is mainly used to perform dangerous tasks that are not suitable for manned vessels. Considering the operational characteristics and requirements of unmanned systems, high-performance unmanned vessels generally use electronically controlled marine diesel engines and water jet propulsion devices as their power and propulsion equipment.

[0003] The water jet propulsion device is a new type of special power device. Different from the common propeller propulsion method, the device needs to suck a large amount of water from the water inlet at the bottom of the ship, pass through the flow channel, guide vanes and impeller, and finally spray out from the stern nozzle in the form of a jet. The water jet propulsion boat obtains sufficient thrust through the reaction force of the water flow, and changes the direction of the jet by manipulating the nozzle and the inverted rudder equipment, and finally realizes the control of the ship.

[0004] The working principle of the water jet propulsion device makes it easy to absorb foreign objects in the water environment. Some foreign objects, such as fishing nets and aquatic plants, may cause entanglement with the rotating mechanism in the pump body, while other foreign objects, such as plastic bags and plastic films, may cause blockage of the water inlet or flow channel. Both of these situations will seriously affect the propulsion efficiency of the water jet propulsion device, causing the boat to fail to reach the expected speed. In severe cases, it may cause equipment overload or failure. Because there are no accompanying personnel on the unmanned boat, it is impossible to detect the actual boat situation and implement targeted measures. Therefore, it is urgent to innovate a set of methods for predicting and avoiding blockage risks of the unmanned boat water jet propulsion device to improve the risk warning and autonomous intervention capabilities during the navigation process of the unmanned boat.

[0005] Chinese invention patent: Publication number is "CN111776183A", and the name is "Fork-free arc-shaped self-cleaning trash intercepting device for high-performance water jet propulsion", which discloses a fork-free arc-shaped self-cleaning trash intercepting device for high-performance water jet propulsion, including a high-performance ship, a water jet propulsion installed inside the high-performance ship, and a trash rack body. The opening spacing of the trash rack body in this technical solution is smaller than tsinβ1 of the impeller inlet, so that while achieving the trash interception effect, materials that will not cause blockage can pass normally, ensuring the normal operation of the water jet propulsion; the bars of the trash rack body adopt an outward convex arc structure, and when the high-performance ship is running, the water flow at the bottom of the ship horizontally flushes the dirt blocked by the bars, so that it directly detaches from the trash rack and is flushed to the rear side, avoiding blocking the opening of the trash rack body, and ensuring the performance of the high-performance ship. However, this technical solution cannot prevent rigid foreign matter from damaging the impeller, nor can it analyze and warn the blockage state through other status monitoring means. Summary of the invention

[0006] In order to solve the problem in the above-mentioned prior art that it is impossible to analyze and warn of the blockage state of the water jet propulsion device and perform autonomous intervention through status monitoring means, the present invention proposes a risk warning intervention system for the water jet propulsion device of an unmanned boat and a control method thereof.

[0007] The present invention is realized by the following technical scheme: comprising a hull and a plurality of groups of water jet propulsion devices arranged at the stern of the hull, and also comprising an industrial control computer and a control module arranged at the front end of the hull in the direction of travel, wherein the industrial control computer is connected to the control module through a third signal cable; a flow channel is arranged in the water jet propulsion device, one end of the flow channel is arranged at the bottom of the hull, and the other end of the flow channel faces the tail end in the direction of travel of the hull; a pressure sensor is fixedly connected to the side wall of one end of the flow channel close to the bottom of the hull; the pressure sensor is connected to the control module through a second signal cable; a diesel engine coaxial with the water jet propulsion device is also arranged at the stern of the hull, an ECU is installed near the side of the diesel engine, the diesel engine and the ECU are connected through an ECU harness, and the ECU is also connected to the control module through a first signal cable.

[0008] Furthermore, the control module includes a CPU module, a digital quantity acquisition module, an analog quantity acquisition module, a CAN communication module, a network communication module, a digital quantity output module and an analog quantity output module, wherein the analog quantity input module is connected to the pressure sensor through a second signal cable; the CAN communication module is connected to the ECU through a first signal cable; the network communication module is connected to the industrial computer through a third signal cable; the CPU module receives data transmitted by the digital quantity input module, the analog quantity input module and the CAN communication module, and transmits the data signal to the industrial computer through the network communication module, and can receive instructions from the industrial computer through the network communication module to adjust the output values ​​of the analog quantity output module and the digital quantity output module.

[0009] Furthermore, the pressure sensor is fixedly connected to the flow channel via a threaded tube, one end of the threaded tube penetrates the side wall of the flow channel and is fixedly connected to the flow channel, and the other end is fixedly connected to the pressure sensor.

[0010] Furthermore, the end surface of one end of the threaded tube fixedly connected to the flow channel is consistent with the shape of the inner wall of the flow channel.

[0011] Furthermore, an internal thread is provided at one end of the threaded tube away from the flow channel, a corresponding external thread is provided on the pressure sensor, and the threaded tube is fixedly connected to the pressure sensor via threads.

[0012] Furthermore, a sealing ring is provided between the pressure sensor and the threaded tube.

[0013] Furthermore, the number of the water jet propulsion devices is two groups.

[0014] The present invention also provides a control method applicable to the risk warning intervention system of the unmanned boat water jet propulsion device, comprising the following steps:

[0015] S1. Use AC-RPM strategy to conduct risk warning and intervention on water jet propulsion device;

[0016] S11, ECU reads the current throttle opening value AC of the diesel engine C , if the signal is stable for more than 10 seconds, execute step S12, otherwise continue to stabilize the signal;

[0017] S12, ECU reads the current RPM of the diesel engine C , together with the current throttle opening value AC of the diesel engine read in step S11 C Transmitted to the control module, the control module RPM C and AC C Transmit to industrial computer;

[0018] S13, the industrial computer determines the current throttle opening value AC of the diesel engine according to the transmission of the ECU Cand AC-RPM linear function to obtain the corresponding diesel engine speed RPM;

[0019] S14, the corresponding diesel engine speed RPM and the current diesel engine speed RPM determined by the industrial computer C If RPM C ≥95% RPM, then execute step S15; otherwise, execute step S16;

[0020] S15, determining that the water jet propulsion device is in a low-blockage risk state, not taking any measures, and executing step S11;

[0021] S16, if RPM C ≥90% RPM, execute step S17; otherwise, execute step S18;

[0022] S17, determining that the water jet propulsion device is in a medium blocking risk state, the industrial computer issues a medium blocking risk alarm, and executing step S11;

[0023] S18, determining that the water jet propulsion device is in a high clogging risk state, the industrial computer issues a high clogging risk alarm, and sends a control instruction to the control module, the control module sends a control instruction to the ECU, the ECU controls the diesel engine to reduce the rated speed to 50%, and executes step S11;

[0024] S2, using RPM-P strategy to conduct risk warning and intervention on water jet propulsion devices;

[0025] S21, ECU reads the current RPM of the diesel engine C , if the signal is stable for more than 10 seconds, execute step S22, otherwise continue to stabilize the signal;

[0026] S22, the pressure sensor reads the current flow channel pressure P C , and transmit it to the control module, the ECU will read the current RPM of the diesel engine C Transmitted to the control module, the control module RPM C and P C Transmit to industrial computer;

[0027] S23, the industrial computer reads the current RPM of the diesel engine according to the ECU C Fit the polynomial function with RPM-P to obtain the corresponding flow channel pressure P;

[0028] S24: The corresponding flow channel pressure P and the current flow channel pressure P determined by the industrial computer C If P C ≥90%P, then execute step S25; otherwise, execute step S26;

[0029] S25, determining that the water jet propulsion device is in a low-blockage risk state, not taking any measures, and executing step 21;

[0030] S26, if P C ≥80%P, then execute step S27; otherwise, execute step S28;

[0031] S27, determining that the water jet propulsion device is in a medium blocking risk state, the industrial computer issues a medium blocking risk alarm, and executing step S21;

[0032] S28. It is determined that the water jet propulsion device is in a high clogging risk state. The industrial computer issues a high clogging risk alarm and sends a control instruction to the control module. The control module sends a control instruction to the ECU. The ECU controls the diesel engine to reduce the rated speed to 50%, and executes step S21.

[0033] Furthermore, the AC-RPM linear function formula in step S13 is as follows:

[0034] RPM = 0.647 AC C +1974.944

[0035] The unit of RPM is r / min.

[0036] Furthermore, the RPM-P fitting polynomial function formula in step S23 is as follows:

[0037]

[0038] Among them, the unit of P is Pa; A, B, C and D are coefficients obtained by fitting the polynomial function.

[0039] Compared with the prior art, the present invention has the following beneficial effects:

[0040] 1. The present invention innovatively proposes to use the corresponding relationship between the main engine throttle opening value AC, the main engine speed RPM and the flow channel pressure P as the theoretical basis for analyzing the blockage risk of the water jet propulsion device, and establishes a set of risk prediction and risk avoidance methods.

[0041] 2. The system designed by the present invention has low cost and low implementation difficulty. Except for adding a flow channel pressure sensor to the water jet propulsion device, the remaining hardware equipment requirements are conventional configurations for unmanned boats. Generally, no additional equipment or additional costs are required.

[0042] 3. The control method designed in the present invention can analyze and predict the blockage risk of the water jet propulsion device through the AC-RPM strategy and the RPM-P strategy, and can take corresponding autonomous intervention measures according to the risk level, thereby greatly improving the risk prediction and risk control capabilities during the navigation of the unmanned boat. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is a block diagram of the overall structure of the system of the present invention.

[0044] Figure 2 It is a block diagram of the control module of the present invention.

[0045] Figure 3 It is a diagram of the overall structural layout of the system of the present invention.

[0046] Figure 4 It is a schematic diagram of the installation position of the flow channel pressure sensor of the present invention.

[0047] Figure 5 for Figure 4 Right view of .

[0048] Figure 6 for Figure 5 A local enlarged view of area I in FIG.

[0049] Figure 7 for Figure 4 sectional view of .

[0050] Figure 8 This is a flow chart of the AC-RPM strategy in the present invention.

[0051] Fig. 9 This is a flow chart of the RPM-P strategy in the present invention.

[0052] Fig.10 Schematic diagram of a fitted polynomial function in an embodiment of the present invention.

[0053] Indicated in the figure:

[0054] 1. Hull; 2. Diesel engine; 3. ECU; 4. ECU wiring harness; 5. First signal cable; 6. Water jet propulsion device; 7. Threaded pipe; 8. Pressure sensor; 9. Second signal cable; 10. Control module; 11. Third signal cable; 12. Industrial computer; 13. Flow channel. DETAILED DESCRIPTION

[0055] Advantages and features of the present invention will be illustrated and explained by the following non-limiting description of preferred embodiments thereof, which are given by way of example only with reference to the accompanying drawings.

[0056] like Figures 1 to 10 As shown, the present invention provides a risk warning intervention system for an unmanned boat water jet propulsion device and a control method thereof. The throttle opening of a ship's electronically controlled diesel engine determines its injection amount and also determines the output power at the current throttle opening. The relationship between the power, torque and speed of a diesel engine is as follows:

[0057]

[0058] Where Ne is the output power of the diesel engine, in kW; Me is the output torque of the diesel engine, in Nm; ω is the angular velocity of the crankshaft, in rad / s; RPM is the speed of the diesel engine, in r / min.

[0059] When the rotating parts such as the guide vanes, impellers, and transmission shafts in the water jet propulsion device are entangled by foreign objects such as fishing nets and water plants, the load of the device will increase, that is, a larger output torque is required to drive the rotating parts such as the guide vanes, impellers, and transmission shafts to rotate. From formula (1), it can be seen that when the output power remains unchanged, the diesel engine speed RPM is inversely proportional to the diesel engine output torque Me. Therefore, the diesel engine will automatically reduce the speed at the current power to match the increased load, which is manifested as the diesel engine throttle opening remains unchanged while the diesel engine speed RPM decreases abnormally.

[0060] The front end of the flow channel of the water jet propulsion device, that is, the upper end of the water inlet at the bottom of the ship, has low water flow velocity, balanced water pressure distribution and no cavitation phenomenon, so the sensor is arranged at the front end of the water jet propulsion device to monitor the flow channel pressure changes. The flow channel water is ejected from the stern nozzle through the action of the guide vane and the impeller to form a jet. When the water inlet grille is blocked by foreign objects such as water plants, plastic bags, and plastic films, resulting in an abnormal decrease in the water inlet area and water inlet volume, the monitoring value of the flow channel pressure sensor will also change abnormally, which is manifested as an abnormal deviation in the value of the flow channel pressure P.

[0061] Based on the above theoretical foundation, the present invention establishes a risk warning intervention system for an unmanned boat water jet propulsion device and a control method thereof, establishes a corresponding function relationship for the three key parameters of throttle opening value AC, diesel engine speed RPM and flow channel pressure P, collects information and performs real-time monitoring, and issues corresponding level of risk warning information or takes corresponding autonomous intervention measures by judging the degree of deviation of parameter correspondence, aiming to improve the risk warning and autonomous intervention capabilities of the unmanned boat for the water jet propulsion device.

[0062] like Figures 3 to 7As shown, the present invention provides a risk warning intervention system for an unmanned boat water jet propulsion device, comprising a hull 1, and a plurality of groups of water jet propulsion devices 6 are arranged at the stern of the hull 1, preferably two groups. The warning intervention system also includes an industrial computer 12 and a control module 10 arranged at the front end of the hull 1 in the direction of travel, and the industrial computer 12 is connected to the control module 10 through a third signal cable 11. A flow channel 13 is arranged in the water jet propulsion device 6, one end of which is arranged at the bottom of the hull 1, which is the water inlet end, and the other end of the flow channel 13 faces the tail end in the direction of travel of the hull 1. A pressure sensor 8 is fixedly connected to the side wall of the flow channel 13 at one end close to the bottom of the hull 1, and the pressure sensor 8 is fixedly connected to the flow channel 13 through a threaded pipe 7. The threaded pipe 7 passes through the side wall of the flow channel 13 and is fixedly connected to the flow channel 13, preferably by welding, to ensure the airtightness between the threaded pipe 7 and the flow channel 13. The threaded tube 7 is provided with an internal thread at one end away from the flow channel 13, and the pressure sensor 8 is provided with a corresponding external thread. The threaded tube 7 is fixedly connected to the pressure sensor 8 by threads. In order to increase the sealing between the pressure sensor 8 and the threaded tube 7, a raw tape can be wound or a sealing ring can be provided therebetween. The water jet propulsion device 6 is coaxially installed with the diesel engine 2. The outer surface of the flow channel 13 of the water jet propulsion device 6 is provided with a through hole at a designed position. The straight tube end face of the threaded tube 7 needs to be processed to conform to the inner wall of the flow channel 13 at the opening. The threaded tube 7 and the outer wall of the flow channel 13 are welded and formed by aluminum welding process. The threaded end of the threaded tube 7 is adapted to be installed with the pressure sensor 8. The second signal cable 9 led out from the pressure sensor 8 is connected to the control module 10 to realize the information collection of the flow channel pressure P. The pressure sensor 8 can be an analog quantity or a digital quantity.

[0063] The stern of the hull 1 is also provided with a diesel engine 2, which is connected to a water jet propulsion device 6 and is used to drive the water jet propulsion device 6 to work. The diesel engine 2 is preferably an electronically controlled diesel engine to meet the control requirements of the unmanned boat. An ECU 3 is installed near the side of the diesel engine 2, and the diesel engine 2 and the ECU 3 are quickly connected through an ECU harness. The ECU 3 can read various sensor parameters on the diesel engine 2 and control the actions of the actuators of the diesel engine 2. The ECU 3 is also connected to the control module 10 through a first signal cable 5, which is used to collect the throttle opening value AC and the diesel engine speed RPM of the diesel engine 2.

[0064] like Figure 1As shown, it is a connection block diagram of the whole system taking two groups of water jet propulsion devices 6 as an example. In this figure, there are two water jet propulsion devices 6, flow channels 13, pressure sensors 8, diesel engines 2 and ECU3, which are respectively the left and right water jet propulsion devices 6, the left and right flow channels 13, the left and right pressure sensors 8, the left and right diesel engines 2 and the left and right ECU3. The left diesel engine 2 is connected to the left ECU3 through a matching wiring harness, that is, the left ECU wiring harness 4, and the left ECU3 collects the throttle opening value AC and the diesel engine speed RPM of the left diesel engine 2. The left ECU3 is connected to the CAN communication module in the control module 10 through the first signal line 5, which is used to transmit the collected throttle opening value AC and the diesel engine speed RPM of the left diesel engine 2 to the control module 10, and receive the control signal fed back by the control module 10 to control the throttle opening of the diesel engine 2. The left pressure sensor 8 transmits the negative pressure analog signal to the control module 10 through the left second signal cable 9. The right pressure sensor 8, diesel engine 2 and ECU3 are consistent with the left principle and connection relationship. The control module 10 receives the throttle opening value AC, the diesel engine speed RPM and the flow passage pressure P of the diesel engine 2, and transmits the three data to the industrial computer 12 in real time. The industrial computer 12 uses the three data as the basis, the AC-RPM and RPM-P correspondence as the analysis basis, and judges the blockage risk level of the water jet propulsion device 6 according to the risk prediction process. If it is a medium or high risk level, risk warning, risk warning and autonomous intervention measures are taken respectively. The control module 10 and the industrial computer 12 are connected through an RJ45 port.

[0065] like Figure 2 As shown, the control module 10 includes a CPU module, a digital quantity acquisition module, an analog quantity acquisition module, a CAN communication module, a network communication module, a digital quantity output module and an analog quantity output module, wherein the analog quantity input module is responsible for connecting the second signal cable 9 and collecting the flow channel pressure P; the CAN communication module is responsible for connecting the first signal cable 5 and collecting the throttle opening value AC and the diesel engine speed RPM, and the network communication module is connected to the industrial computer 12 through the third signal cable 11 and transmits the collected information. The CPU module receives the data transmitted by the digital quantity input module, the analog quantity input module, and the CAN communication module, and transmits the data signal to the industrial computer 12 through the network communication module, and can receive the instructions of the industrial computer 12 through the network communication module to adjust the output values ​​of the analog quantity output module and the digital quantity output module.

[0066] During the unmanned boat joint debugging, the corresponding relationship between the throttle opening value AC and the diesel engine speed RPM is confirmed and an AC-RPM linear function is established. The corresponding relationship between the diesel engine speed RPM and the flow channel pressure P is confirmed and an RPM-P fitting polynomial function is established.

[0067] like Figure 8 and Fig. 9 As shown, the present invention also provides a control method for a risk warning intervention system of an unmanned boat water jet propulsion device, comprising the following steps:

[0068] Step 1: Use the AC-RPM strategy to conduct risk warning and intervention on the water jet propulsion device 6.

[0069] Step 11: ECU 3 reads the current throttle opening value AC of diesel engine 2 C , if the signal is stable for more than 10 seconds, execute step 12, otherwise continue to stabilize the signal.

[0070] Step 12: ECU 3 reads the current RPM of diesel engine 2 C , together with the current throttle opening value AC of diesel engine 2 read in step 11 C The control module 10 transmits the RPM C and AC C Transmitted to the industrial computer 12.

[0071] Step 13: The industrial computer 12 calculates the current throttle opening value AC of the diesel engine 2 according to the value transmitted by the ECU 3. C And AC-RPM linear function, get the corresponding diesel engine speed RPM.

[0072] Step 14: The industrial computer 12 determines the corresponding diesel engine speed RPM and the current speed RPM of the diesel engine 2. C If RPM C ≥95%RPM, go to step 15; otherwise go to step 16.

[0073] Step 15: determine that the water jet propulsion device 6 is in a low-blockage risk state, do not take any measures, and execute step 11.

[0074] Step 16, if RPM C ≥90% RPM, go to step 17; otherwise go to step 18.

[0075] Step 17: It is determined that the water jet propulsion device 6 is in a medium blockage risk state, the industrial computer 12 issues a medium blockage risk alarm, and step 11 is executed.

[0076] Step 18: determine that the water jet propulsion device 6 is in a high clogging risk state, the industrial computer 12 issues a high clogging risk alarm, and sends a control instruction to the control module 10, the control module 10 sends a control instruction to the ECU3, and the ECU3 controls the diesel engine 2 to reduce to 50% of the rated speed, and executes step 11.

[0077] The AC-RPM linear function is obtained through system design matching and debugging calibration. The linear function equation is as follows:

[0078] RPM = 0.647 AC C +1974.944

[0079] The unit of RPM is r / min.

[0080] Step 2: Use the RPM-P strategy to conduct risk warning and intervention on the water jet propulsion device 6.

[0081] Step 21, ECU3 reads the current RPM of diesel engine 2 C , after the signal is stable for more than 10 seconds, execute step 22, otherwise continue to stabilize the signal.

[0082] Step 22: The pressure sensor 8 reads the current flow channel pressure P of the flow channel 13. C , and transmits it to the control module 10, ECU3 reads the current speed RPM of the diesel engine 2 C The control module 10 transmits the RPM C and P C Transmitted to the industrial computer 12.

[0083] Step 23, the industrial computer 12 reads the current RPM of the diesel engine 2 according to the ECU 3 C The polynomial function is fitted with RPM-P to obtain the corresponding flow channel pressure P.

[0084] Step 24: The industrial computer 12 determines the corresponding flow channel pressure P and the current flow channel pressure P C If P C ≥90%P, go to step 25; otherwise, go to step 26.

[0085] Step 25: determine that the water jet propulsion device 6 is in a low-blockage risk state, do not take any measures, and execute step 21.

[0086] Step 26: If P C ≥80%P, execute step 27; otherwise, execute step 28.

[0087] Step 27 , determining that the water jet propulsion device 6 is in a medium blockage risk state, the industrial computer 12 issues a medium blockage risk alarm, and executing step 21 .

[0088] Step 28, determine that the water jet propulsion device 6 is in a high clogging risk state, the industrial computer 12 issues a high clogging risk alarm, and sends a control instruction to the control module 10, the control module 10 sends a control instruction to the ECU3, the ECU3 controls the diesel engine 2 to reduce to 50% of the rated speed, and executes step 21.

[0089] Among them, the general function equation of RPM-P fitting polynomial function is as follows:

[0090]

[0091] The unit of P is Pa; A, B, C and D are coefficients, which can be obtained by fitting a polynomial function.

[0092] In this example, the equipment parameters are obtained through hydrodynamic simulation and joint commissioning, and then the parameters are fitted with polynomial functions through MATLAB software. The RPM-P fitting polynomial function of the example is obtained as follows. The MATLAB polynomial function fitting image is shown in Fig.10 :

[0093] P = 1.55 × 10 -5 RPM 3 -6.84×10 -2 RPM 2 +85.51RPM-33420

[0094] In addition to the above embodiments, the present invention may also have other implementation modes. Any technical solutions formed by equivalent replacement or equivalent transformation shall fall within the protection scope required by the present invention.

Claims

1. A risk early warning intervention system for an unmanned boat water jet propulsion device, comprising a boat body (1) and a plurality of groups of water jet propulsion devices (6) arranged at the stern of the boat body (1), characterized in that: The invention also comprises an industrial computer (12) and a control module (10) arranged at the front end of the hull (1) in the direction of travel, wherein the industrial computer (12) is connected to the control module (10) via a third signal cable (11); a flow channel (13) is arranged in the water jet propulsion device (6); one end of the flow channel (13) is arranged at the bottom of the hull (1), and the other end of the flow channel (13) faces the rear end in the direction of travel of the hull (1); a side wall of the end of the flow channel (13) close to the bottom of the hull (1) is provided with a A pressure sensor (8) is fixedly connected; the pressure sensor (8) is connected to a control module (10) via a second signal cable (9); a diesel engine (2) coaxial with the water jet propulsion device (6) is also provided at the stern of the hull (1); an ECU (3) is installed near the side of the diesel engine (2); the diesel engine (2) and the ECU (3) are connected via an ECU wiring harness; and the ECU (3) is also connected to the control module (10) via a first signal cable (5).

2. The unmanned boat water jet propulsion device risk warning intervention system according to claim 1, characterized in that: The control module (10) comprises a CPU module, a digital quantity acquisition module, an analog quantity acquisition module, a CAN communication module, a network communication module, a digital quantity output module and an analog quantity output module, wherein the analog quantity input module is connected to the pressure sensor (8) via a second signal cable (9); the CAN communication module is connected to the ECU (3) via a first signal cable (5); and the network communication module is connected to the industrial control computer (12) via a third signal cable (11); the CPU module receives data transmitted from the digital quantity input module, the analog quantity input module and the CAN communication module, and transmits the data signal to the industrial control computer (12) via the network communication module, and can receive instructions from the industrial control computer (12) via the network communication module to adjust the output values ​​of the analog quantity output module and the digital quantity output module.

3. The risk early warning intervention system for the unmanned boat water jet propulsion device according to claim 1 is characterized in that: The pressure sensor (8) is fixedly connected to the flow channel (13) via a threaded tube (7); one end of the threaded tube (7) passes through the side wall of the flow channel (13) and is fixedly connected to the flow channel (13), and the other end is fixedly connected to the pressure sensor (8).

4. The risk warning intervention system for the unmanned boat water jet propulsion device according to claim 3 is characterized by: The end surface of one end of the threaded tube (7) fixedly connected to the flow channel (13) is consistent in shape with the inner wall of the flow channel (13).

5. The risk warning intervention system for the unmanned boat water jet propulsion device according to claim 3 is characterized by: An internal thread is provided at one end of the threaded tube (7) away from the flow channel (13), and a corresponding external thread is provided on the pressure sensor (8). The threaded tube (7) and the pressure sensor (8) are fixedly connected via threads.

6. The risk warning intervention system for the unmanned boat water jet propulsion device according to claim 5 is characterized in that: A sealing ring is provided between the pressure sensor (8) and the threaded tube (7).

7. The unmanned boat water jet propulsion device risk warning intervention system according to claim 1, characterized in that: The number of the water jet propulsion devices (6) is two groups.

8. A control method applicable to the risk warning intervention system of the unmanned boat water jet propulsion device according to any one of claims 1 to 7, characterized in that: The following steps are included: S1. Using AC-RPM strategy to conduct risk warning and intervention on water jet propulsion device (6); S11, ECU (3) reads the current throttle opening value AC of the diesel engine (2) C , if the signal is stable for more than 10 seconds, execute step S12, otherwise continue to stabilize the signal; S12, ECU (3) reads the current RPM of the diesel engine (2) C , together with the current throttle opening value AC of the diesel engine (2) read in step S11 C is transmitted to the control module (10), and the control module (10) converts the RPM C and AC C Transmit to the industrial computer (12); S13, the industrial computer (12) calculates the current throttle opening value AC of the diesel engine (2) according to the value transmitted by the ECU (3). C and AC-RPM linear function to obtain the corresponding diesel engine speed RPM; S14, the industrial computer (12) determines the corresponding RPM of the diesel engine and the current RPM of the diesel engine (2) C If RPM C ≥95% RPM, then execute step S15; otherwise, execute step S16; S15, determining that the water jet propulsion device (6) is in a low-blockage risk state, taking no measures, and executing step S11; S16, if RPM C ≥90% RPM, execute step S17; otherwise, execute step S18; S17, determining that the water jet propulsion device (6) is in a medium blocking risk state, the industrial control computer (12) issues a medium blocking risk alarm, and executing step S11; S18, determining that the water jet propulsion device (6) is in a high clogging risk state, the industrial computer (12) issues a high clogging risk alarm, and sends a control instruction to the control module (10), the control module (10) sends a control instruction to the ECU (3), the ECU (3) controls the diesel engine (2) to reduce the rated speed to 50%, and executes step S11; S2, using the RPM-P strategy to conduct risk warning and intervention on the water jet propulsion device (6); S21, ECU (3) reads the current RPM of the diesel engine (2) C , if the signal is stable for more than 10 seconds, execute step S22, otherwise continue to stabilize the signal; S22, the pressure sensor (8) reads the current flow channel pressure P of the flow channel (13) C , and transmits it to the control module (10), and the ECU (3) reads the current RPM of the diesel engine (2) C is transmitted to the control module (10), and the control module (10) converts the RPM C and P C Transmit to the industrial computer (12); S23, the industrial computer (12) reads the current RPM of the diesel engine (2) according to the ECU (3) C Fit the polynomial function with RPM-P to obtain the corresponding flow channel pressure P; S24, the industrial control computer (12) determines the corresponding flow channel pressure P and the current flow channel pressure P C If P C ≥90%P, execute step S25; Otherwise, execute step S26; S25, determining that the water jet propulsion device (6) is in a low clogging risk state, taking no measures, and executing step 21; S26, if P C ≥80%P, execute step S27; Otherwise, execute step S28; S27, determining that the water jet propulsion device (6) is in a medium blocking risk state, the industrial control computer (12) issues a medium blocking risk alarm, and executing step S21; S28. It is determined that the water jet propulsion device (6) is in a high clogging risk state, the industrial computer (12) issues a high clogging risk alarm, and sends a control instruction to the control module (10), the control module (10) sends a control instruction to the ECU (3), the ECU (3) controls the diesel engine (2) to reduce the rated speed to 50%, and executes step S21.

9. The control method of the risk warning intervention system of the unmanned boat water jet propulsion device according to claim 8 is characterized by: The AC-RPM linear function formula in step S13 is as follows: RPM=0.647AC C +1974.944 The unit of RPM is r / min.

10. The control method of the risk warning intervention system of the unmanned boat water jet propulsion device according to claim 8, characterized in that: The RPM-P fitting polynomial function formula in step S23 is as follows: Among them, the unit of P is Pa; A, B, C and D are coefficients obtained by fitting the polynomial function.

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