Method and device for measuring wing flight height of hydrofoil craft by using capacitive sensor

Abstract

The invention relates to a method and device for measuring the wing flight height of a hydrofoil craft through a capacitive sensor. The method comprises the following steps: converting a capacitance change signal of a capacitance sensor into a corresponding frequency variation; wherein the capacitance sensor is mounted at the tail end of the hydrofoil supporting rod and is used for generating a capacitance change signal based on water level change; inputting the frequency variation into a draft model to obtain an actual draft; and based on the actual immersion depth, calculating target wing flight height data according to the known position relation of the hydrofoil supporting rod relative to the ship body. According to the method, the wing flight height of the hydrofoil craft is measured through the capacitive sensor, compared with an ultrasonic sensor, interference of environmental factors on measurement precision is avoided, high-precision and real-time wing flight height measurement of the hydrofoil craft can be provided, the wing flight height measurement frequency and stability are improved, and the stability and safety of sailing of the hydrofoil craft are remarkably enhanced.

Description

Technical Field

[0001] The present invention belongs to the fields of computer and communication technologies, and particularly relates to a method and device for measuring the wing navigation height of a hydrofoil boat using a capacitance sensor. Background Art

[0002] In the field of ship navigation, a hydrofoil boat is a type of vessel with a unique hydrofoil as its main power structure. During navigation, accurately measuring the takeoff height of a hydrofoil boat is crucial to ensure its stability and efficiency. Traditional measurement of the takeoff height of a hydrofoil boat often relies on an ultrasonic sensor. Ultrasonic waves are emitted from the module, reflected by the water surface, and then received by the module. Finally, the module processes the data to obtain the height information. However, this method is limited by the speed of sound, with a long single measurement time and difficulty in achieving high-frequency measurement. In addition, the actual water surface is not an ideal plane. The presence of waves and ripples causes the ultrasonic waves to be reflected at non-ideal angles, easily resulting in disordered height measurement information and even incorrect data, thus affecting the navigation control and safety guarantee of the hydrofoil boat. Summary of the Invention

[0003] Based on this, in view of the above technical problems, it is necessary to provide a method for measuring the wing navigation height of a hydrofoil boat using a capacitance sensor to improve the measurement frequency, accuracy, and stability of the wing navigation height of the hydrofoil boat, thereby enhancing the dynamic control and navigation stability of the hydrofoil boat.

[0004] In a first aspect, the present application provides a method for measuring the wing navigation height of a hydrofoil boat using a capacitance sensor. The method includes:

[0005] Converting the capacitance change signal of the capacitance sensor into a corresponding frequency change amount; wherein, the capacitance sensor is installed at the end of the hydrofoil support rod and is used to generate a capacitance change signal based on the water level change;

[0006] Inputting the frequency change amount into the draft depth model to obtain the actual draft depth;

[0007] Based on the actual draft depth, calculating the target wing navigation height data according to the known positional relationship between the hydrofoil support rod and the hull.

[0008] In one embodiment, the calculation formula for calculating the target wing navigation height data according to the known positional relationship between the hydrofoil support rod and the hull based on the draft depth is:

[0009] H = L1 + (L - h)

[0010] where, H is the target wing navigation height data; L1 is the distance from the hull to the upper end of the capacitance sensor; L is the vertical length of the capacitance sensor; and h is the actual draft depth.

[0011] In one embodiment, converting the capacitance change signal of the capacitance sensor into a corresponding frequency change amount includes:

[0012] Calculating the capacitance value based on the capacitance change signal through a capacitance detection circuit, where the capacitance detection circuit includes a constant current source, a capacitor, a switch, a reference voltage source, and a comparator; among them, the constant current source is connected to the sensing electrode terminal of the capacitor, the capacitor includes a sensing electrode and the system ground, the switch is connected in parallel with the capacitor, the reference voltage source is connected to the first input terminal of the comparator, the system ground terminal of the capacitor is connected to the second input terminal of the comparator, and the output terminal of the comparator outputs a PWM signal;

[0013] Converting the capacitance value into a corresponding frequency change amount through a frequency conversion circuit.

[0014] In one embodiment, the calculation formula for the capacitance value is:

[0015] C = (I s *△t) / V ref

[0016] Wherein, I s is the constant current value provided by the constant current source, △t is the time interval during which the constant current source charges the capacitor from when the switch is turned off to when the comparator outputs a high-level signal, and V ref is the fixed voltage value set by the reference voltage source.

[0017] In one embodiment, the method further includes:

[0018] Obtaining a plurality of hull height data, where the hull height data is used to characterize the distance of different positions of the hull relative to the water surface;

[0019] Preprocessing the hull height data and performing data fusion based on data fusion technology to obtain a fused hull height;

[0020] Performing smoothing filtering on the fused hull height to obtain the actual hull height, and calculating the deviation height between the actual hull height data and the target wing navigation height data;

[0021] Generating a control instruction according to the deviation height, where the control instruction is used to instruct to control the hull to reach the target wing navigation height data.

[0022] In one embodiment, the method further includes:

[0023] Constructing a dielectric constant-capacitance value relationship model based on experimental data and corresponding capacitance value measurement data under different water area conditions, where the experimental data includes water area salinity, water area temperature, and water area pH value;

[0024] Inputting the capacitance value into the dielectric constant-capacitance value relationship model to obtain an estimated value of the dielectric constant of the current water area;

[0025] Based on the estimated value of the dielectric constant, the actual draft is corrected to obtain the corrected draft.

[0026] Based on the known positional relationship between the hydrofoil support rod and the hull and the corrected draft, the corrected target wing navigation height data is calculated and determined as the target wing navigation height data.

[0027] In a second aspect, the present application also provides a system for measuring the wing navigation height of a hydrofoil boat using a capacitance sensor. The system includes:

[0028] A frequency conversion module for converting the capacitance change signal of the capacitance sensor into a corresponding frequency change amount; wherein, the capacitance sensor is installed at the end of the hydrofoil support rod and is used to generate a capacitance change signal based on the water level change.

[0029] A draft calculation module for inputting the frequency change amount into a draft model to obtain the actual draft.

[0030] A wing navigation height calculation module for calculating the target wing navigation height data based on the actual draft and the known positional relationship between the hydrofoil support rod and the hull.

[0031] In a third aspect, the present application also provides a device for measuring the wing navigation height of a hydrofoil boat using a capacitance sensor. The device includes a capacitance sensor installed at the end of the hydrofoil support rod, a draft conversion device, and a hull flight height conversion unit. The hull flight height conversion unit is provided in the central controller of the hydrofoil boat, and the sensing electrode of the capacitance sensor is immersed in the water area where the current hydrofoil boat is located.

[0032] Among them, the capacitance sensor includes a capacitance detection circuit. The capacitance detection circuit includes a constant current source, a capacitor, a switch, a reference voltage source, and a comparator. The constant current source is connected to the sensing electrode end of the capacitor. The capacitor includes a sensing electrode and a system ground. The switch is connected in parallel with the capacitor. The reference voltage source is connected to the first input end of the comparator. The system ground end of the capacitor is connected to the second input end of the comparator. The output end of the comparator outputs a PWM signal.

[0033] The draft conversion device is used to convert the capacitance change signal of the capacitance sensor into a corresponding frequency change amount.

[0034] The draft conversion device is used to input the frequency change amount into a draft model to obtain the actual draft and generate an actual draft signal based on the actual draft.

[0035] The hull flight height conversion unit is used to calculate the target wing navigation height data based on the actual draft and the known positional relationship between the hydrofoil support rod and the hull, and perform takeoff height control through the central controller.

[0036] In one embodiment, the device further includes a data transmission device configured to receive the actual draft signal, convert the actual draft signal into a differential CAN signal or an RS485 signal, and transmit the signal to the hull flight height conversion unit through the corresponding physical interface.

[0037] Fourthly, the present application also provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the method according to any one of the first aspects are implemented.

[0038] In the above method, device, system and readable storage medium for measuring the wing navigation height of a hydrofoil boat using a capacitance sensor, firstly, by converting the capacitance change signal of the capacitance sensor into a frequency change signal, i.e., a frequency change amount, which is easier to transmit and process, it is possible to effectively reduce interference during signal transmission, improve the stability and reliability of the signal, and provide more accurate water level change data, thereby providing high-quality original signals for subsequent calculations. The capacitance sensor is installed at the end of the hydrofoil support rod and can sense water level changes and output corresponding capacitance change signals. This process converts a physical quantity into a measurable electrical signal, providing an effective basis for calculating the actual draft of the hydrofoil boat. Secondly, by inputting the obtained frequency change amount into the draft depth model to quantify the relationship between the change in the capacitance signal and the draft depth, the accuracy of draft depth measurement is further improved, providing the necessary parameter support for subsequent wing navigation height calculation. Finally, based on the actual draft depth output by the model and the known positional relationship between the hydrofoil support rod and the hull, stable target wing navigation height data can be calculated under complex water surface conditions, thus ensuring the navigation stability and safety of the hydrofoil boat.

[0039] Compared with the traditional ultrasonic sensor measurement method, the method has the following beneficial effects through the organic combination of a capacitance sensor, signal conversion, draft depth calculation, and geometric relationship calculation:

[0040] 1. The frequency of wing navigation height measurement is greatly improved. In the traditional ultrasonic scheme, limited by the speed of sound, the highest frequency of ultrasonic measurement is usually lower than 40 Hz. However, the method combines a capacitance sensor for measurement, is not limited by the speed of sound, and the capacitance value changes rapidly with the water level. The measurement frequency can reach at least above 150 Hz, greatly increasing the frequency of flight height measurement. It can provide more detailed and higher-frequency data output in a complex water surface change environment, helping to more accurately track and adjust the wing navigation height, thereby improving the navigation stability and safety.

[0041] 2. The accuracy of wing navigation height measurement is significantly improved. Due to the unevenness of the water surface, various fluctuating waves may change the reflection direction of ultrasonic waves, resulting in the ultrasonic sensor being unable to obtain data or obtaining incorrect height data. In this method, the influence of water waves on the capacitive sensor is limited to the change in the height of the water waves, and the capacitance value will fluctuate slightly in real time following the water waves, avoiding abnormal data caused by the change in the reflection direction in principle, further improving the accuracy of wing navigation height measurement, effectively reducing the potential risks brought by inaccurate wing navigation height measurement, and providing a strong guarantee for the safe and stable navigation of the hydrofoil boat. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following will briefly introduce the drawings required for use in the description of the embodiments or related technologies. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0043] Figure 1 Schematic flowchart of a method for measuring the wing navigation height of a hydrofoil boat using a capacitive sensor provided in an exemplary embodiment of the present invention;

[0044] Figure 2 Capacitance detection circuit diagram provided in an exemplary embodiment of the present invention;

[0045] Figure 3 Schematic structural diagram of a system for measuring the wing navigation height of a hydrofoil boat using a capacitive sensor provided in an exemplary embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0046] In order to make the objectives, technical solutions and advantages of the present application clearer, the following further details the present application in conjunction with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0047] In one embodiment, as Figure 1 shown, a method for measuring the wing navigation height of a hydrofoil boat using a capacitive sensor is provided. In this embodiment, this method is exemplified by being applied to a terminal. It can be understood that this method can also be applied to a server, and can also be applied to a system including a terminal and a server, and is implemented through the interaction between the terminal and the server. In this embodiment, the method includes the following steps:

[0048] S101: Convert the capacitance change signal of the capacitive sensor into a corresponding frequency change amount; wherein, the capacitive sensor is installed at the end of the hydrofoil support rod and is used to generate a capacitance change signal based on the water level change.

[0049] When the hydrofoil boat is traveling on the water surface, the hydrofoil support rod is in a critical position where the hydrofoil boat contacts the water. Schematically, the capacitance sensor can be strip-shaped and installed at the end of the hydrofoil support rod. The capacitance sensor can use a copper rod as the induction electrode, which is wrapped with an insulating material and placed in a cylindrical container. This container is connected to the water area. Based on the basic principle of capacitance, a change in water level will cause a change in the dielectric constant or the plate spacing in the capacitance sensor, thereby causing a change in the capacitance value and generating a capacitance change signal. However, there are certain difficulties in the transmission and processing of the capacitance change signal. To better perform subsequent analysis and calculations, through specific circuit designs or signal processing techniques, such as combining an oscillator circuit, the capacitance change signal can be converted into a corresponding frequency signal, that is, a frequency change amount. The frequency signal has stronger anti-interference ability, can effectively reduce signal loss and distortion during transmission, and ensure that the signal can be accurately and stably transmitted to the subsequent data processing unit, providing a reliable data basis for accurately measuring the wing navigation height.

[0050] S102: Input the frequency change amount into the draft model to obtain the actual draft.

[0051] Specifically, the draft model is constructed through a large amount of experimental data and theoretical research, which can reflect the internal relationship between the frequency change amount and the actual draft. When the frequency change amount enters the draft model, first, according to the preset rules, the frequency data can be screened, sorted, and corrected to eliminate the influence of possible measurement errors or interference noises. Through a specific algorithm, the frequency value is mapped to the corresponding draft value, thereby obtaining the actual draft, providing an accurate intermediate data basis for subsequent calculations, and ensuring the coherence and accuracy of the measurement. Schematically, in this process, for the hydrofoil boat, since the capacitance sensor is installed at the end of the hydrofoil support rod, this actual draft can be understood as the vertical distance from the end of the capacitance sensor entering the water area to the water surface, that is, the vertical depth of the hydrofoil boat hull immersed in the water area, thereby providing the relationship between the hydrofoil boat and the water surface.

[0052] S103: Based on the actual draft, calculate the target wing navigation height data according to the known positional relationship between the hydrofoil support rod and the hull.

[0053] The positional relationship between the hydrofoil support rod and the hydrofoil boat hull is a pre-determined geometric relationship. Schematically, the positional relationship between the hydrofoil support rod and the hydrofoil boat hull can be obtained through geometric parameters such as the installation position and angle of the hydrofoil support rod on the hull, as well as the length and shape of the hydrofoil support rod itself. And by constructing a spatial geometric model and combining the actual draft depth for calculation, the target wing navigation height data of the current hydrofoil boat can be obtained. The target wing navigation height data refers to the expected vertical distance from the hydrofoil boat hull to the water surface. Furthermore, by mastering the target wing navigation height in real time, it helps the operator adjust the navigation state of the hydrofoil boat according to the current wing navigation height, ensuring that it is in the best performance state and improving the navigation efficiency and safety.

[0054] In the above method for measuring the wing navigation height of a hydrofoil boat using a capacitance sensor, the capacitance change signal is collected and processed in real time by the capacitance sensor installed at the end of the hydrofoil support rod. Compared with the traditional ultrasonic sensor measurement method, it avoids the influence of environmental factors such as the speed of sound, which helps to accurately measure the wing navigation height of the hydrofoil boat. And by converting the capacitance change signal into a frequency change amount, it can effectively reduce the interference during signal transmission and improve the stability and reliability of the signal. By inputting the frequency change amount into the draft depth model for analysis and converting the frequency change amount into meaningful draft depth data, it further improves the scientificity and reliability of data processing. Finally, by combining the actual draft depth and performing geometric calculations based on the known relative position relationship between the hydrofoil support rod and the hull, the target wing navigation height data is obtained, which not only improves the calculation accuracy but also provides key data support for the flight control of the hydrofoil boat.

[0055] Compared with the traditional ultrasonic sensor measurement method, this method not only greatly improves the measurement frequency and accuracy of the wing navigation height, but also can provide more stable and real-time target wing navigation height data support in complex water surface environments, providing an important guarantee for the safe and stable operation of the hydrofoil boat.

[0056] In one of the embodiments, based on the draft depth, the calculation formula for calculating the target wing navigation height data according to the known position relationship between the hydrofoil support rod and the hull is:

[0057] H = L1+(L - h)

[0058] Where, H is the target wing navigation height data; L1 is the distance from the hull to the upper end of the capacitance sensor; L is the length of the capacitance sensor in the vertical direction; h is the actual draft depth.

[0059] In the above formula, the distance L1 from the hull to the upper end of the capacitance sensor is a fixed distance value, which is determined by the structural design of the hydrofoil boat and can represent the vertical distance from a preset reference point of the hull to the upper end of the capacitance sensor. The length L in the vertical direction of the capacitance sensor is a constant determined by factors such as the specifications and installation method of the capacitance sensor. The actual draft depth h can reflect the vertical distance from the end of the capacitance sensor immersed in the water area to the water surface, that is, the depth of the hull immersed in the water. Therefore, (L - h) in the formula can represent the length of the capacitance sensor above the water surface, and by combining the distance L1 from the hull to the upper end of the capacitance sensor, the target wing navigation height data H can be obtained.

[0060] In one embodiment, converting the capacitance change signal of the capacitance sensor into a corresponding frequency change amount includes:

[0061] Calculating the capacitance value based on the capacitance change signal through a capacitance detection circuit. The capacitance detection circuit includes a constant current source, a capacitor, a switch, a reference voltage source, and a comparator. Among them, the constant current source is connected to the sensing electrode terminal of the capacitor. The capacitor includes a sensing electrode and a system ground. The switch is connected in parallel with the capacitor. The reference voltage source is connected to the first input terminal of the comparator. The system ground terminal of the capacitor is connected to the second input terminal of the comparator. The output terminal of the comparator outputs a PWM signal;

[0062] Converting the capacitance value into a corresponding frequency change amount through a frequency conversion circuit.

[0063] Specifically, as Figure 2 shown, the constant current source is connected to the sensing electrode terminal of the capacitor, and its function is to provide a constant current to the capacitor. According to the principle of capacitor charging, the change in the amount of charge is proportional to time, laying a foundation for subsequent calculation of the capacitance value. The capacitor includes a sensing electrode and a system ground, and its capacitance value will change due to factors such as water level changes. The switch can use a MOS tube (Metal - Oxide - Semiconductor Field - Effect Transistor), and is connected in parallel with the capacitor, and its on - off is controlled by a switch control signal. When the switch is closed, the voltage on the capacitor quickly drops to 0; when the switch is open, the constant current source starts to charge the capacitor, and the capacitor voltage rises. The periodic on - off of the switch enables the capacitor to continuously charge and discharge, thereby generating a measurable voltage change.

[0064] The reference voltage source is connected to the first input terminal of the comparator, providing a fixed reference voltage for the comparator. This reference voltage is the standard for the comparator to judge the level of the capacitor voltage. The system ground terminal of the capacitor is connected to the second input terminal of the comparator, and the comparator compares the capacitor voltage with the reference voltage. When the capacitor voltage is less than the reference voltage, the comparator outputs a low level; when the capacitor voltage is greater than the reference voltage, the comparator outputs a high level. The output terminal of the comparator outputs a PWM (Pulse Width Modulation) signal. The high level and the low level respectively represent two states of the pulse, and the changes of the high level and the low level of the PWM signal can reflect the change of the capacitor voltage, and further can reflect the change of the capacitance value. Among them, the switch control signal can be sent out by the processing unit, and the output signal of the comparator is sent into the processing unit. Then the processing unit can calculate the capacitance value based on the switch control signal and the output signal of the comparator. Finally, based on the capacitance-frequency characteristic relationship, such as an LC oscillation circuit, etc., the capacitance value can be converted into a corresponding frequency change amount for transmission.

[0065] In one embodiment, the calculation formula for the capacitance value is:

[0066] C = (I s *△t) / V ref

[0067] Where, I s is the constant current value provided by the constant current source, △t is the time interval during which the constant current source charges the capacitor from the switch being off to the comparator outputting a high-level signal, and V ref is the fixed voltage value set by the reference voltage source.

[0068] Schematically, the period and duty cycle of the PWM signal output by the comparator are closely related to the charging and discharging process of the capacitor. One period of it includes the whole process of the capacitor charging from the start (switch off) to the voltage reaching the reference voltage (comparator outputting a high level), and then to the capacitor discharging (switch on). The △t can be calculated by measuring the period and the high-level duration of the PWM signal, and then the capacitance value C can be calculated.

[0069] In one embodiment, the method further includes:

[0070] Obtain a plurality of hull height data, which are used to characterize the distances of different positions of the hull relative to the water surface;

[0071] Preprocess the hull height data and perform data fusion based on the data fusion technology to obtain the fused hull height;

[0072] Perform smoothing filtering on the fused hull height to obtain the actual hull height, and calculate the deviation height between the actual hull height data and the target wing navigation height data;

[0073] Generate a control instruction based on the deviation height, and the control instruction is used to indicate controlling the hull to reach the target wing navigation height data.

[0074] After obtaining the target wing navigation height data, the wing navigation height of the current hydrofoil boat can be adjusted. During the adjustment process, during the navigation of the hull, the heights of different positions may be different relative to the water surface due to various factors such as uneven load distribution, the influence of water flow and wind and waves. Then, the distances of different positions of the hull relative to the water surface can be obtained through multiple sensors, and multiple hull height data can be obtained. Further, preprocessing operations such as removing outliers and data normalization are performed on the collected hull height data, and data fusion methods such as weighted average method, Kalman filtering method, and Bayesian estimation can be used for fusion, which can better monitor the actual heights of various parts of the hydrofoil boat on the water surface, and help to avoid potential dangers caused by too low local height.

[0075] Smoothing filtering such as average filtering and low-pass filtering is performed on the obtained fused hull height, which can further remove the high-frequency noise components in the data and make the data smoother and more stable. Subtract the actual hull height from the target wing navigation height data to obtain the deviation height. This deviation height can represent the gap between the current hull height and the desired target wing navigation height, and corresponding control instructions are generated based on the magnitude and direction of the deviation height. For example, if the deviation height is positive, it may indicate that the hull is higher than the target wing navigation height and the hull height needs to be reduced; if the deviation height is negative, the hull height may need to be increased.

[0076] The control instruction can control the angle of the hydrofoil, the power of the thruster, etc. through the central controller of the hydrofoil boat to adjust the attitude and speed of the hull, so that the hull reaches the target wing navigation height, thereby improving the navigation performance and stability of the hydrofoil boat.

[0077] In one embodiment, the method further includes:

[0078] Construct a dielectric constant-capacitance value relationship model based on the experimental data and the corresponding capacitance value measurement data under different water area conditions, and the experimental data includes water area salinity, water area temperature and water area pH value;

[0079] Input the capacitance value into the dielectric constant-capacitance value relationship model to obtain the estimated value of the dielectric constant of the current water area;

[0080] Correct the actual draft depth based on the estimated value of the dielectric constant to obtain the corrected draft depth;

[0081] Calculate the corrected target wing navigation height data based on the corrected draft depth according to the known positional relationship between the hydrofoil support rod and the hull, and determine the corrected target wing navigation height data as the target wing navigation height data.

[0082] Schematically, the dielectric constant is an important parameter describing the electrical properties of water, which is usually used to reflect the response ability of water to an electric field. It is not only affected by the chemical composition of water (such as salinity) and temperature, but also closely related to the physical state of water. The change of the dielectric constant will directly affect the measurement of the capacitance sensor, which may lead to inaccurate measurement of the draft depth. Therefore, in order to reduce the influence of the dielectric constant, based on the experimental data under different water area conditions and the corresponding capacitance value measurement data, a dielectric constant-capacitance value relationship model can be constructed through a certain algorithm or functional relationship. By inputting the actually measured capacitance value into the established model, the dielectric constant of the current water area can be deduced. A correction function can be constructed according to the influence law of the dielectric constant on the draft depth to adjust the actual draft depth, so as to obtain a corrected draft depth that more conforms to the actual situation of the current water area. According to the known positional relationship between the hydrofoil support rod and the hull, using geometric principles and the corrected draft depth, more accurate corrected hydrofoil height data can be recalculated as the final target hydrofoil height data. This data can more accurately reflect the hydrofoil height of the hydrofoil boat under the current water area conditions, providing a more reliable basis for subsequent navigation control and performance evaluation.

[0083] Based on the same inventive concept, as Figure 3 shown, an embodiment of the present application further provides a system 300 for measuring the hydrofoil height of a hydrofoil boat using a capacitance sensor. The system includes:

[0084] A frequency conversion module 301, configured to convert the capacitance change signal of the capacitance sensor into a corresponding frequency change amount; wherein, the capacitance sensor is installed at the end of the hydrofoil support rod and is configured to generate a capacitance change signal based on the water level change;

[0085] A draft depth calculation module 302, configured to input the frequency change amount into the draft depth model to obtain the actual draft depth;

[0086] A hydrofoil height calculation module 303, configured to calculate the target hydrofoil height data based on the actual draft depth according to the known positional relationship between the hydrofoil support rod and the hull.

[0087] Through the frequency conversion module 301, the system can convert the capacitance change signal of the capacitance sensor into a corresponding frequency change amount, making the signal easier to process and analyze, and having stronger anti-interference ability and higher transmission stability. In addition, the capacitance sensor is installed at the end of the hydrofoil support rod, and it will generate a capacitance change signal due to the water level change, realizing accurate, stable and efficient water level change detection, providing a reliable data basis for subsequent draft depth calculation and wing navigation height adjustment. And in the draft depth calculation module 302, the frequency change amount output by the frequency conversion module 301 is input into the draft depth model to obtain the actual draft depth. This process converts the physical signal into an actual physical quantity related to the draft depth of the hydrofoil boat by using the relationship between the frequency change amount and the draft depth model, that is, the actual draft depth. This result reflects the draft situation of the hydrofoil boat in the current state, providing key information for evaluating the navigation state.

[0088] In the wing navigation height calculation module 303, according to the geometric principle and the known position relationship of the hydrofoil support rod relative to the hull, the actual draft depth is converted into the target wing navigation height data. This data can help the operator better master the flight state of the hydrofoil boat, ensure that the hydrofoil boat sails at the optimal height, and further improve the navigation efficiency and safety.

[0089] Furthermore, the calculation formula for calculating the target wing navigation height data based on the draft depth according to the known position relationship of the hydrofoil support rod relative to the hull in the wing navigation height calculation module 303 is:

[0090] H = L1+(L - h)

[0091] Where, H is the target wing navigation height data; L1 is the distance from the hull to the upper end of the capacitance sensor; L is the length of the capacitance sensor in the vertical direction; h is the actual draft depth.

[0092] Furthermore, the frequency conversion module 301 includes:

[0093] A capacitance calculation sub-unit, which is used to calculate the capacitance value based on the capacitance change signal through a capacitance detection circuit. The capacitance detection circuit includes a constant current source, a capacitor, a switch, a reference voltage source and a comparator; wherein, the constant current source is connected to the induction electrode end of the capacitor, the capacitor includes an induction electrode and the system ground, the switch is connected in parallel with the capacitor, the reference voltage source is connected to the first input end of the comparator, the system ground end of the capacitor is connected to the second input end of the comparator, and the output end of the comparator outputs a PWM signal;

[0094] A capacitance conversion sub-unit, which is used to convert the capacitance value into a corresponding frequency change amount through a frequency conversion circuit.

[0095] Furthermore, the calculation formula for the capacitance value is:

[0096] C = (I s * Δt) / V ref

[0097] Wherein, I s is the constant current value provided by the constant current source, Δt is the time interval during which the constant current source charges the capacitor from the moment the switch is turned off until the comparator outputs a high - level signal, and V ref is the fixed voltage value set by the reference voltage source.

[0098] Furthermore, the system further includes a wing - navigation height control module for:

[0099] Obtaining a plurality of hull height data, which is used to characterize the distances of different positions of the hull relative to the water surface;

[0100] Pre - processing the hull height data and performing data fusion based on data fusion technology to obtain a fused hull height;

[0101] Performing smoothing filtering on the fused hull height to obtain the actual hull height, and calculating the deviation height between the actual hull height data and the target wing - navigation height data;

[0102] Generating a control instruction according to the deviation height, and the control instruction is used to instruct to control the hull to reach the target wing - navigation height data.

[0103] Furthermore, the system further includes a wing - navigation height correction module for:

[0104] Constructing a dielectric constant - capacitance value relationship model based on experimental data under different water conditions and corresponding capacitance value measurement data, and the experimental data includes water salinity, water temperature, and water pH value;

[0105] Inputting the capacitance value into the dielectric constant - capacitance value relationship model to obtain an estimated value of the dielectric constant of the current water area;

[0106] Correcting the actual draft depth based on the estimated value of the dielectric constant to obtain a corrected draft depth;

[0107] Calculating the corrected target wing - navigation height data based on the corrected draft depth according to the known positional relationship between the hydrofoil support rod and the hull, and determining the corrected target wing - navigation height data as the target wing - navigation height data.

[0108] In an exemplary embodiment, the embodiment of the present application further provides a device for measuring the wing - navigation height of a hydrofoil boat using a capacitance sensor. The device includes a capacitance sensor installed at the end of the hydrofoil support rod, a draft depth conversion device, and a hull flight height conversion unit. The hull flight height conversion unit is arranged in the central controller of the hydrofoil boat, and the sensing electrode of the capacitance sensor is immersed in the water area where the current hydrofoil boat is located;

[0109] Among them, the capacitance sensor includes a capacitance detection circuit. The capacitance detection circuit includes a constant current source, a capacitor, a switch, a reference voltage source, and a comparator. The constant current source is connected to the sensing electrode terminal of the capacitor. The capacitor includes a sensing electrode and a system ground. The switch is connected in parallel with the capacitor. The reference voltage source is connected to the first input terminal of the comparator. The system ground terminal of the capacitor is connected to the second input terminal of the comparator. The output terminal of the comparator outputs a PWM signal;

[0110] The draft conversion device is used to convert the capacitance change signal of the capacitance sensor into a corresponding frequency change amount;

[0111] The draft conversion device is used to input the frequency change amount into the draft model to obtain the actual draft, and generate an actual draft signal according to the actual draft;

[0112] The hull flight height conversion unit is used to calculate the target wing flight height data based on the actual draft according to the known positional relationship between the hydrofoil support rod and the hull, and perform takeoff height control through the central controller.

[0113] In an exemplary embodiment, the present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of a method for measuring the wing flight height of a hydrofoil boat using a capacitance sensor according to the present application are implemented. The computer-readable storage medium may include: read-only memory (ROM, Read Only Memory), random access memory (RAM, Random Access Memory), solid state drive (SSD, Solid State Drives), or optical disc, etc. Among them, the random access memory may include resistive random access memory (ReRAM, Resistance Random Access Memory) and dynamic random access memory (DRAM, Dynamic Random Access Memory). The above-described embodiments only express several implementation manners of the embodiments of the present application, and their descriptions are relatively specific and detailed, but should not be construed as limiting the patent scope of the embodiments of the application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the embodiments of the present application, several deformations and improvements can be made, and these all belong to the protection scope of the embodiments of the present application.

Claims

1. A method for measuring the wing altitude of a hydrofoil craft using a capacitive sensor, characterized in that: The method comprises: Converting the capacitance change signal of the capacitance sensor into a corresponding frequency change; wherein the capacitance sensor is installed at the end of the hydrofoil support rod and is used to generate the capacitance change signal based on the water level change; Inputting the frequency variation into a draft depth model to obtain an actual draft depth; Based on the actual draft depth, target wing altitude data is calculated according to the known position relationship of the hydrofoil support rod relative to the hull.

2. The method according to claim 1, characterized in that The calculation formula for calculating the target wing altitude data based on the draft depth and the known position relationship of the hydrofoil support rod relative to the hull is: H=L1+(Lh) Among them, H is the target wing altitude data; L1 is the distance from the hull to the upper end of the capacitive sensor; L is the length of the capacitive sensor in the vertical direction; and h is the actual draft depth.

3. The method according to claim 1, characterized in that The converting the capacitance change signal of the capacitance sensor into the corresponding frequency change comprises: The capacitance value is calculated based on the capacitance change signal through a capacitance detection circuit, wherein the capacitance detection circuit includes a constant current source, a capacitor, a switch, a reference voltage source and a comparator; wherein the constant current source is connected to the inductive electrode end of the capacitor, the capacitor includes an inductive electrode and a system ground, the switch is connected in parallel with the capacitor, the reference voltage source is connected to a first input end of the comparator, the system ground end of the capacitor is connected to a second input end of the comparator, and the output end of the comparator outputs a PWM signal; The capacitance value is converted into the corresponding frequency change through a frequency conversion circuit.

4. The method according to claim 3, characterized in that The capacitance value is calculated as follows: C=(I s *△t) / V ref Among them, I s is the constant current value provided by the constant current source, Δt is the time interval from when the switch is turned off to when the comparator outputs a high level signal, and V ref A fixed voltage value set for the reference voltage source.

5. The method according to claim 1, characterized in that The method further comprises: Acquire a plurality of hull height data, wherein the hull height data is used to characterize the distances of different positions of the hull relative to the water surface; Preprocessing the hull height data, and fusing the data based on data fusion technology to obtain a fused hull height; Performing smoothing filtering on the fused hull height to obtain the actual hull height, and calculating the deviation height between the actual hull height data and the target wing height data; A control instruction is generated according to the deviation height, and the control instruction is used to instruct to control the hull to reach the target winging altitude data.

6. The method according to claim 3, characterized in that The method further comprises: A dielectric constant-capacitance value relationship model is constructed based on experimental data under different water conditions and corresponding capacitance value measurement data, wherein the experimental data includes water salinity, water temperature and water pH value; Inputting the capacitance value into the dielectric constant-capacitance value relationship model to obtain an estimated value of the dielectric constant of the current water area; Correcting the actual draft based on the dielectric constant estimate to obtain a corrected draft; According to the known positional relationship of the hydrofoil support rod relative to the hull, the corrected target winging altitude data is calculated based on the corrected draft, and the corrected target winging altitude data is determined as the target winging altitude data.

7. A system for measuring the altitude of a hydrofoil craft using a capacitive sensor, characterized in that: The system comprises: A frequency conversion module, used to convert the capacitance change signal of the capacitance sensor into a corresponding frequency change; wherein the capacitance sensor is installed at the end of the hydrofoil support rod and is used to generate the capacitance change signal based on the water level change; A draft depth calculation module, used for inputting the frequency variation into a draft depth model to obtain an actual draft depth; The wing flight height calculation module is used to calculate the target wing flight height data based on the actual draft depth and the known position relationship of the hydrofoil support rod relative to the hull.

8. A device for measuring the altitude of a hydrofoil craft using a capacitive sensor, characterized in that: The device comprises a capacitive sensor installed at the end of a hydrofoil support rod, a draft depth conversion device and a hull flight height conversion unit, wherein the hull flight height conversion unit is arranged in a central controller of the hydrofoil vessel, and a sensing electrode of the capacitive sensor is immersed in the waters where the hydrofoil vessel is currently located; Wherein, the capacitance sensor includes a capacitance detection circuit, the capacitance detection circuit includes a constant current source, a capacitor, a switch, a reference voltage source and a comparator, the constant current source is connected to the inductive electrode end of the capacitor, the capacitor includes an inductive electrode and a system ground, the switch is connected in parallel with the capacitor, the reference voltage source is connected to a first input end of the comparator, the system ground end of the capacitor is connected to a second input end of the comparator, and the output end of the comparator outputs a PWM signal; The draft depth conversion device is used to convert the capacitance change signal of the capacitance sensor into a corresponding frequency change; The draft depth conversion device is used to input the frequency variation into the draft depth model to obtain the actual draft depth, and generate an actual draft depth signal according to the actual draft depth; The hull flight altitude conversion unit is used to calculate the target wing altitude data based on the actual draft depth and the known position relationship of the hydrofoil support rod relative to the hull, and perform take-off altitude control through the central controller.

9. The device according to claim 8, characterized in that The device also includes a data transmission device for receiving the actual draft depth signal, converting the actual draft depth signal into a differential CAN signal or an RS485 signal, and transmitting the signal to the hull flight altitude conversion unit through a corresponding physical interface.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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