A method, system, device and medium for separating a probe from a sleeve based on current characteristics

Abstract

The present application discloses a method, system, equipment and medium for separating a probe from a sleeve based on current characteristics, and relates to the field of marine surveys. The method comprises: sampling the working current of a DC motor in an automatic delivery measurement system; determining the motion stage of the DC motor based on the working current; when it is determined that the motion stage of the DC motor is the pinning stage, controlling the DC motor to stop after a fixed time of operation, separating the probe from the sleeve, and stopping the pinning rod on the motor shaft in the non-blocked area where the probe is installed. The present application can control the motor to stop at a reasonable position through the identified current characteristics, avoiding the pinning rod from interfering with the installation of the next probe, thereby achieving effective separation of the XBT / XCTD probe from the outer sleeve and completing the probe delivery.

Description

Technical Field

[0001] The present application relates to the field of ocean surveys, and in particular to a method, system, equipment, and medium for separating a probe from a sleeve based on current characteristics. Background Art

[0002] The expendable bathy thermograph (XBT) is a disposable instrument capable of measuring seawater temperature-depth profiles and is a crucial tool for oceanographic surveys. The expendable conductivity-temperature-depth profiler (XCTD) is a disposable instrument capable of measuring both seawater conductivity-depth and temperature-depth profiles and is a crucial tool for oceanographic surveys. The XBT / XCTD probe can be separated from its outer sleeve by removing the metal pin securing it to the probe, which then drops into the seawater for measurement.

[0003] The methods commonly used in existing automatic delivery measurement systems include: separation of the probe and sleeve with a position sensor, separation of the probe and sleeve with a preset rotation time, separation of the probe and sleeve by linear reciprocating motion of a stepping motor, and manual separation of the probe and sleeve before delivery.

[0004] Among them, the disadvantages of the probe and sleeve separation method with a position sensor are as follows: (1) When using a photoelectric sensor, the spatial position of the sensor needs to be accurately set to ensure that the pin puller can smoothly pass through the monitoring threshold of the photoelectric sensor. However, when the photoelectric sensor is displaced due to factors such as installation and vibration, the pin puller's movement trajectory cannot pass through the sensor's monitoring area, which will cause the method to fail. (2) When using a magnetic proximity sensor, there is a certain range error due to the effect of the magnetic field, so it cannot be guaranteed that the pin puller can accurately stop at the predetermined position. (3) For an automatic delivery measurement system with multiple delivery channels, the use of a position sensor in each channel requires the addition of corresponding power supply and data cables, which increases the burden on system design and field reliability.

[0005] The disadvantages of the probe and sleeve separation method with a preset rotation time are as follows: due to the relatively high humidity and salinity at sea, the rotational resistance of the motor increases due to rust and other reasons after long-term use. The movement stroke of the motor changes from the original setting within the preset time, causing the stop position of the pin puller to interfere with the installation of the next probe.

[0006] The method of separating the probe and sleeve by linear reciprocating motion of a stepper motor has the following disadvantages: in offshore field applications, the movement resistance may increase due to rust and other reasons inside the stepper motor; there is also a possibility of loss of step due to untimely response to the number of pulses input to the external pulse signal, resulting in the possibility of failure to operate according to the set movement distance, which will cause the pin extraction mechanism to be unable to enter the probe pin and ultimately fail to extract the probe pin.

[0007] The disadvantages of manually separating the probe and the sleeve before deployment are as follows: after the probe pin is removed in advance, the probe is in an unrestrained state in the sleeve. As the automatic deployment measurement system moves at sea, the probe and the sleeve are in constant collision, which may damage or fail the sensor in the probe, resulting in its inability to complete the measurement function after deployment. Summary of the Invention

[0008] The purpose of this application is to provide a method, system, equipment and medium for separating the probe and the sleeve based on current characteristics. The motor can be controlled to stop at a reasonable position by identifying the current characteristics, thereby preventing the puller rod from interfering with the installation of the next probe, thereby achieving effective separation of the XBT / XCTD probe and the outer sleeve and completing the probe deployment.

[0009] To achieve the above objectives, this application provides the following solutions.

[0010] In the first aspect, the present application provides a method for separating a probe from a sleeve based on current characteristics, and the method for separating the probe from the sleeve is applied to an automatic delivery measurement system of a disposable profile measuring instrument (including XBT and XCTD), and the disposable profile measuring instrument includes a probe, a sleeve and a metal pin. The method for separating the probe from the sleeve includes: sampling the working current of a DC motor in the automatic delivery measurement system; determining the movement stage of the DC motor based on the working current; when it is determined that the movement stage of the DC motor is a pin pulling stage, controlling the DC motor to stop after running for a fixed time, separating the probe from the sleeve, and stopping the pin pulling rod on the motor shaft in a non-blocked area where the probe is installed.

[0011] In the second aspect, the present application provides a probe and sleeve separation system based on current characteristics, and the probe and sleeve separation system is applied to the automatic delivery measurement system of a disposable profile measuring instrument. The disposable profile measuring instrument includes a probe, a sleeve and a metal pin. The probe and sleeve separation system includes: a current sampling module, which is used to sample the working current of the DC motor in the automatic delivery measurement system; a motion stage determination module, which is used to determine the motion stage of the DC motor based on the working current; and a control module, which is used to control the DC motor to stop after a fixed time when it is determined that the motion stage of the DC motor is the pin pulling stage, and the probe and sleeve are separated, and the pin pulling rod on the motor shaft stops in the non-blocked area where the probe is installed.

[0012] In a third aspect, the present application provides a computer device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the above-mentioned method for separating the probe from the sleeve based on current characteristics.

[0013] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-mentioned method for separating the probe and the sleeve based on current characteristics.

[0014] According to the specific embodiments provided in this application, this application has the following technical effects: This application provides a method, system, equipment and medium for separating the probe and the sleeve based on current characteristics. By controlling the rotation of the DC motor, the pin pulling rod on the motor shaft is driven to pull out the probe pin of the XBT / XCTD. The working current of the DC motor is synchronously sampled in real time during the entire rotation process. By identifying the working current, the DC motor is controlled to stop at a reasonable position (that is, the non-obstructed area where the probe is installed), avoiding the pin pulling rod from interfering with the installation of the next probe, thereby realizing the effective separation of the XBT / XCTD probe and the outer sleeve and completing the probe deployment. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0016] Figure 1 A schematic flow chart of a method for separating a probe from a sleeve based on current characteristics provided in one embodiment of the present application.

[0017] Figure 2 Schematic diagram of the automatic release measurement system releasing the probe.

[0018] Figure 3 Schematic diagram of the motion phases of a DC motor.

[0019] Figure 4 Schematic diagram of the current real-time monitoring window.

[0020] Figure 5 This is a schematic diagram of the identification process of the working current of a DC motor.

[0021] Figure 6 Schematic diagram of the driving circuit of a DC motor.

[0022] Figure 7 This is a schematic diagram of the current change curve during the pin-pulling movement of multiple DC motors.

[0023] Figure 8 A schematic diagram of the structure of a computer device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0025] This application samples the working current of the DC motor in different motion stages, and effectively identifies the pinning process through the change characteristics of the current, thereby realizing the automatic stop of the DC motor. According to the current change of the DC motor when the probe is released, the motion process is divided into 4 stages: 1) Starting stage: the starting current increases instantly from 0; 2) No-load operation stage: the current drops from the starting current value to a relatively stable current value during no-load operation; 3) Pinning stage: when the pin pulling rod contacts the metal pin, the DC motor current will gradually increase to a maximum value. When the metal pin is separated from the sleeve, the current returns to the current range of the no-load operation stage; 4) Pinning completion stage: the DC motor current returns to the no-load operation stage, and a certain time margin is set. When the given time is reached, the DC motor stops running, so that the pin pulling rod can stop at a suitable position after completing the pinning without interfering with the installation of the next probe.

[0026] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0027] In an exemplary embodiment, a method for separating a probe from a sleeve based on current characteristics is provided. The method is applied to an automatic drop measurement system of a disposable profiler (including XBT and XCTD), such as Figure 2 As shown, the XBT / XCTD consists of a probe 1, a sleeve 2, and a metal pin 3. The DC motor 4 in the automatic deployment measurement system rotates, driving the pin puller 5 to remove the metal pin 3, separating the probe 1 from the sleeve 2 and allowing the probe 1 to be deployed. In the automatic deployment measurement system for multiple XBT / XCTDs, separating the XBT / XCTD probe from the outer sleeve is a critical step in probe deployment. The mechanism for achieving separation should be able to release the current probe without affecting the smooth installation of the next probe, thereby enabling the continuous deployment of multiple probes.

[0028] The method for separating the probe and the sleeve based on current characteristics provided in the present application is executed by a computer device, and specifically can be executed by a computer device such as a general-purpose microcomputer or an embedded microcomputer alone, or can be executed by a general-purpose microcomputer and an embedded microcomputer together. In the embodiment of the present application, the method is described by taking the application of the method to an embedded microcomputer as an example. Figure 1-Figure 2 As shown, the method includes the following steps S1 to S3.

[0029] S1: Sampling the operating current of the DC motor in the automatic delivery measurement system. Specifically, based on a set time interval and array length, the operating current of the DC motor in the automatic delivery measurement system is sampled using a sliding window, where the operating current includes multiple current sampling values.

[0030] Set up a current sampling group a[n] (n=0 to M-1) with an array length of M. The data pointer points to a[0] at the initial moment. After the first current sampling is completed, the result is stored in a[0], the second current sampling data is stored in a[1], and so on. When the current sampling values ​​in the current sampling group are full and new current data is collected, the data in a[1] to a[M-1] in the array are stored in their previous data positions in sequence, that is: a[0] to a[M-2], and the newly collected data is stored in a[M-1]. The storage method of the subsequent collected data is similar.

[0031] The time interval and array length of current sampling should be determined based on a large amount of preliminary test data to form a reasonable current real-time monitoring window (such as Figure 4 In this embodiment, the time interval is set to 20ms.

[0032] S2: Determine a motion phase of the DC motor based on the operating current.

[0033] Since the friction resistance between the mechanical structures of each delivery mechanism is different, the average current value of each DC motor during operation is different. Therefore, it is not possible to judge the unplugging status by setting a unified threshold value for multiple DC motors; as the DC motor's usage time increases, its friction resistance will also change accordingly, so it is also impossible to set a judgment threshold for each DC motor separately. This application reasonably sets the first threshold value T1 of the no-load operation stage, the second threshold value T2 of the maximum unplugging current, the third threshold value T3 of the larger current, and the number N of currents exceeding the third threshold value T3, and realizes the detection of the working current of the DC motor in different operation stages by using a window sampling method.

[0034] like Figure 3As shown in the figure, a complete movement process of a DC motor includes four stages: starting, no-load operation, pin removal, and pin removal completion. In the last three stages, the characteristics of the DC motor current change are: fluctuating within a certain small range, the working current gradually increases to the maximum value and then gradually decreases, and the working current fluctuates within a certain small range again. Figure 5 As shown, based on the above characteristics, whether the pin removal is completed can be judged through the following steps.

[0035] 1) When the working current increases instantaneously from 0, the movement phase of the DC motor is determined to be the starting phase.

[0036] The timing time of the startup phase is set to T0. During T0, the working current increases instantaneously from 0. The DC motor is in the startup phase, and current sampling starts after reaching T0.

[0037] 2) When the difference between the second current sampling value a[1] and the first current sampling value a[0] in the current current sampling group is less than the first threshold value, it is determined that the movement phase of the DC motor is the no-load operation phase.

[0038] By repeatedly measuring the difference between the maximum and minimum current values ​​of multiple DC motors of the same model, the maximum difference is used as the fluctuation value, and the first threshold value T1 is appropriately set to be slightly larger than the fluctuation value. The difference between a[1] and a[0] in the current sampling group is compared. If it is greater than T1, proceed to step 3; otherwise, the DC motor is determined to be in the no-load operation phase and current sampling detection continues. T1 is set to detect whether the current suddenly increases when the pin puller contacts the metal pin.

[0039] 3) When the difference between all current sampling values ​​in the current current sampling group and the first current sampling value is greater than the second threshold value, and the number of current sampling values ​​whose difference with the first current sampling value is greater than the third threshold value is greater than the set value, it is determined that the movement stage of the DC motor is the pinning stage.

[0040] For multiple DC motors of the same model, the difference between the no-load current and the maximum unplugging current is measured multiple times. The second threshold value T2 is set so that T2 is slightly less than the minimum value of this difference. The difference between all elements in the current sampling group and a[0] is compared and recorded. If any of these differences is greater than T2, it indicates that the maximum unplugging current has been detected; otherwise, it indicates that the maximum unplugging current has not been detected, and current sampling continues.

[0041] The third threshold value, T3, is set to the difference between T2 and T1 multiplied by the coefficient K and then added to T1, i.e., T3 = (T2 - T1) × K + T1. This threshold is used to detect large current values ​​during the unpinning process. After the maximum unpinning current is detected, the differences between all elements in the current sampling group and a[0] are compared in sequence. If the number of current sampling values ​​greater than T3 among these differences exceeds the set value N, it indicates that the DC motor is in the unpinning phase.

[0042] like Figure 4 As shown, when in the unpinning stage, the current change of the DC motor from the no-load operation stage to the unpinning stage can fall within the current real-time monitoring window, and the monitoring and judgment can be achieved through the above steps. Figure 4 The length of the array M is 10, N is 3, and the coefficient K is set to 2 / 3.

[0043] T2 is set to detect the maximum unplugging current. T3 is set based on the characteristic of the current changing from small to large and then back to small during the unplugging process. This detects the unplugging process and avoids misjudgment caused by transient high currents in certain special circumstances during DC motor operation. The T3 threshold should ensure that it captures some sampling points during the current rising and falling phases.

[0044] 4) When it is determined that the movement stage of the DC motor is the pin unplugging stage, the DC motor is controlled to run for a fixed time and then stop, and the movement stage of the DC motor is determined to be the pin unplugging completion stage.

[0045] After the DC motor continues to rotate for a fixed time T4, the DC motor is controlled to stop. T4 is determined based on the running speed and displacement of the DC motor.

[0046] S3: When it is determined that the movement stage of the DC motor is the pin pulling stage, the DC motor is controlled to run for a fixed time and then stop, the probe is separated from the sleeve, and the pin pulling rod on the motor shaft stops in the non-blocked area where the probe is installed.

[0047] Step S3 identifies the operating current and determines whether the pin puller has contacted the metal pin and completed the pin removal process. If all three conditions are met, the detection data is deemed to contain no pin removal process, and the data from the next detection window is determined to be the pin removal phase. The DC motor is then controlled to stop after a fixed time T4, ensuring both smooth removal of the metal pin from the probe and ensuring that the pin puller remains in the unobstructed installation area after a period of time.

[0048] Figure 7The following diagram shows the changes in operating current during the unpinning process of three different DC motors. It can be seen that the average current values ​​of the three DC motors during no-load operation vary, being approximately 0.55A, 0.8A, and 1.05A, respectively. Therefore, T1 can be set to a value slightly larger than the maximum of the three, here set to 1.1A; T2 to a value slightly smaller than the maximum of the three, here set to 1.55A; T3 to (T2-T1)×K+T1. Based on extensive preliminary experiments, K is set to 2 / 3, resulting in a T3 value of 1.4A; N is set to 3, the array length M is set to 10, and the time interval is 0.02s. Based on the above parameters, the probe-sleeve separation method based on current characteristics provided in this application can be used to detect the unpinning process of the three DC motors.

[0049] The current-signature-based probe and sleeve separation method provided by this application relies on the changing characteristics of the current to identify the pin removal process. The algorithm is not affected by factors such as motor type and motor operating current differences. Even if the motor's rotational resistance changes due to corrosion or other reasons, after properly setting parameters, this application can still identify the pin removal process and control the pin removal rod to automatically stop. In addition, the above-mentioned method provided by this application completes the pin removal only when the probe is actually deployed, avoiding the possibility of damage or failure of the sensor in the probe due to continuous collision between the probe and the sleeve due to premature removal of the metal pin, and the possibility of failure to complete measurement after the probe is deployed.

[0050] Based on the same inventive concept, embodiments of the present application also provide a system for separating a probe from a sleeve based on current characteristics. The solution provided by this system is similar to the solution described in the aforementioned method. Therefore, the specific limitations of one or more embodiments of the system for separating a probe from a sleeve based on current characteristics provided below can be found in the limitations of the method for separating a probe from a sleeve based on current characteristics above, and will not be further elaborated here.

[0051] In an exemplary embodiment, a probe and sleeve separation system based on current characteristics is provided. The probe and sleeve separation system is applied to a disposable profile measuring instrument. The disposable profile measuring instrument includes a probe, a sleeve and a metal pin. The probe and sleeve separation system includes the following modules.

[0052] The current sampling module is used to sample the working current of the DC motor in the automatic delivery measurement system.

[0053] The motion phase determination module is configured to determine the motion phase of the DC motor based on the operating current.

[0054] The control module is used to control the DC motor to stop after running for a fixed time when it is determined that the movement stage of the DC motor is the pin pulling stage, so that the probe is separated from the sleeve, and the pin pulling rod on the motor shaft stops in the non-blocked area where the probe is installed.

[0055] The above-mentioned current sampling module includes a sampling resistor, a current-voltage conversion circuit, a voltage sampling circuit and a data transmission isolation circuit connected in sequence.

[0056] Figure 6 To implement the hardware platform for the above method, in a multi-channel automatic delivery measurement system, to prevent the interference signal generated by the DC motor from affecting the control circuit, the control circuit and the motor drive circuit should use different power grounds, and the signal transmission between the two should use components with isolation function.

[0057] In the motor drive circuit, since only one channel is active during each probe deployment, the power supply output current is the DC motor operating current for the corresponding deployment channel. The motor drive circuit uses the following steps to obtain current data.

[0058] (1) A high-precision sampling resistor with milliohm level is connected in series to the back end of the device under test (i.e., the motor drive circuit power supply), and a current-voltage conversion circuit with corresponding functions is used to obtain and analyze the voltage across the high-precision sampling resistor, converting the measurement of the power supply output current value into the measurement of the voltage value.

[0059] (2) According to the current sampling accuracy requirements, use a voltage sampling circuit with corresponding accuracy to perform analog-to-digital conversion on the above voltage value and convert the voltage value into a digital quantity.

[0060] (3) Since the control part and the DC motor drive part in the circuit use different power ground planes, a data transmission isolation circuit with isolation function is required to transmit the voltage sampling value from the DC motor drive part to the main control unit (i.e., Microcontroller Unit, MCU) in the control circuit through the circuit.

[0061] Through the above three steps, the operation of the DC motor in different motion stages can be obtained.

[0062] In actual applications, the current-to-voltage conversion circuit is implemented using the MAX4173F chip, the high-precision sampling resistor uses a 1% precision, 20mΩ resistor, the voltage sampling circuit uses the 12-bit sampling analog-to-digital converter ADS7822 chip, and the data transmission isolation circuit uses the SSP5841 series 4-channel digital isolator. The motor control isolation chip is implemented using the SI8460, the motor drive chip is implemented using the DRV8870 chip, and the motor is a 13 rpm DC reduction motor.

[0063] The motor drive circuit consists of a voltage sampling circuit, a current-to-voltage conversion circuit, a sampling resistor, and a data transmission isolation circuit. Combined with the control circuit, it detects the DC motor's current during different phases of motion, allowing the pin puller to stop in the unobstructed installation area, effectively separating the probe from the sleeve. Furthermore, the hardware platform eliminates the need for additional position sensors and transmission cables; it relies solely on software algorithms to automatically stop the pin puller, resulting in a relatively simple structure and high reliability.

[0064] In an exemplary embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps of the above-mentioned method embodiments. The computer device can be a server, a general-purpose microcomputer, or an embedded microcomputer, and its internal structure can be as shown in FIG. Figure 8 As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, abbreviated as I / O) and a communication interface. The processor, memory and input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The internal memory of the computer device is used to store data to be processed. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a method for separating a probe and a sleeve based on current characteristics is implemented.

[0065] Those skilled in the art will understand that Figure 8 The structure shown in the figure is merely a block diagram of a portion of the structure related to the solution of the present application and does not constitute a limitation on the computer device to which the solution of the present application is applied. A specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement. In an exemplary embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, and the processor implements the steps of the above-mentioned method embodiments when executing the computer program.

[0066] In an exemplary embodiment, a computer-readable storage medium is provided, storing a computer program. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0067] In an exemplary embodiment, a computer program product is provided, including a computer program. When the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0068] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0069] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the above-mentioned embodiments. In particular, any reference to memory, database, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM may be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0070] The databases involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processors involved in the various embodiments provided herein may include, but are not limited to, general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic units, data processing logic units based on quantum computing, and the like.

[0071] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0072] This document uses specific examples to illustrate the principles and implementation methods of this application. The description of the above examples is only intended to help understand the method and core concept of this application. At the same time, for those skilled in the art, based on the concept of this application, there may be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A method for separating a probe from a sleeve based on current characteristics, wherein the method is applied to an automatic drop measurement system of a disposable profiler, wherein the disposable profiler comprises a probe, a sleeve, and a metal pin, and wherein: The DC motor in the automatic placement measurement system rotates, driving the pin pulling rod to remove the metal pin, separating the probe and the sleeve to achieve the placement of the probe. By controlling the rotation of the DC motor, the pin pulling rod on the motor shaft is driven to pull out the metal pin; The method for separating the probe from the sleeve comprises: Sampling the working current of the DC motor in the automatic delivery measurement system; sampling the working current of the DC motor in the automatic delivery measurement system with a sliding window based on a set time interval and array length; the working current includes a plurality of current sampling values; The motion stage of the DC motor is determined based on the working current; the motion stage of the DC motor includes: a starting stage, a no-load operation stage, a pinning stage and a pinning completion stage; when the working current increases instantaneously from 0, the motion stage of the DC motor is determined to be the starting stage; when the difference between the second current sampling value and the first current sampling value in the current current sampling group is less than the first threshold value, the motion stage of the DC motor is determined to be the no-load operation stage; when all the current sampling values ​​in the current current sampling group have a difference with the first current sampling value greater than the second threshold value, and the number of current sampling values ​​whose difference with the first current sampling value is greater than the third threshold value is greater than a set value, the motion stage of the DC motor is determined to be the pinning stage; when the motion stage of the DC motor is determined to be the pinning stage, the DC motor is controlled to stop after running for a fixed time, and the motion stage of the DC motor is determined to be the pinning completion stage; wherein, the third threshold value T3=(T2-T1)×K+T1; wherein, T1 is the first threshold value, T2 is the second threshold value, and K is a preset coefficient; When it is determined that the movement stage of the DC motor is the pin pulling stage, the DC motor is controlled to stop after running for a fixed time, the probe is separated from the sleeve, and the pin pulling rod on the motor shaft stops in the non-blocked area where the probe is installed.

2. The method for separating a probe from a sleeve based on current characteristics according to claim 1, characterized in that: The fixed time is determined according to the running speed and displacement of the DC motor.

3. A probe and sleeve separation system based on current characteristics, the probe and sleeve separation system is applied to the automatic delivery measurement system of a disposable profiler, the disposable profiler comprising a probe, a sleeve and a metal pin, characterized in that: The DC motor in the automatic placement measurement system rotates, driving the pin pulling rod to remove the metal pin, separating the probe and the sleeve to achieve the placement of the probe. By controlling the rotation of the DC motor, the pin pulling rod on the motor shaft is driven to pull out the metal pin; The probe and sleeve separation system includes: A current sampling module is used to sample the working current of the DC motor in the automatic delivery measurement system; based on a set time interval and array length, the working current of the DC motor in the automatic delivery measurement system is sampled using a sliding window; the working current includes multiple current sampling values; A motion phase determination module is configured to determine the motion phase of a DC motor based on the operating current. The motion phases of a DC motor include: a startup phase, a no-load operation phase, a pinning phase, and a pinning completion phase. When the operating current increases instantaneously from 0, the motion phase of the DC motor is determined to be the startup phase. When the difference between the second current sampling value and the first current sampling value in the current current sampling group is less than a first threshold value, the motion phase of the DC motor is determined to be the no-load operation phase. When all current sampling values ​​in the current current sampling group differ from the first current sampling value by more than a second threshold value, and the number of current sampling values ​​whose difference from the first current sampling value is greater than a third threshold value is greater than a set value, the motion phase of the DC motor is determined to be the pinning phase. When the motion phase of the DC motor is determined to be the pinning phase, the DC motor is controlled to stop after running for a fixed time, and the motion phase of the DC motor is determined to be the pinning completion phase. The third threshold value T3 = (T2-T1) × K + T1. T1 is the first threshold value, T2 is the second threshold value, and K is a preset coefficient. The control module is used to control the DC motor to stop after running for a fixed time when it is determined that the movement stage of the DC motor is the pin pulling stage, so that the probe is separated from the sleeve, and the pin pulling rod on the motor shaft stops in the non-blocked area where the probe is installed.

4. The probe and sleeve separation system based on current characteristics according to claim 3, characterized in that: The current sampling module includes a sampling resistor, a current-voltage conversion circuit, a voltage sampling circuit and a data transmission isolation circuit connected in sequence.

5. A computer device comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method for separating a probe from a sleeve based on current characteristics according to any one of claims 1 to 2.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for separating a probe from a sleeve based on current characteristics according to any one of claims 1 to 2 is implemented.

Images