Underwater propeller control method and system based on cavitation corrosion analysis

Abstract

The invention discloses an underwater propeller control method and system based on cavitation corrosion analysis. The method and system are used for reducing the cavitation corrosion condition of an underwater propeller in a real scene. The method comprises the following steps: acquiring an acquired image of a shaftless propulsion system in an underwater propeller, the underwater propeller further comprising a micro-bubble injection system, and uniformly distributed micro-bubble outlets are formed in the micro-bubble injection system; determining an effective area of the acquired image, performing corrosion detection on the effective area, and determining a corrosion area and a corrosion type label; determining a target microbubble outlet of which the microbubble acting point location is located in the corrosion area; when the underwater propeller runs, obtaining current water body information of the underwater propeller and running environment information of a propelling system in real time; the cavitation rotating speed threshold value of the underwater propeller is updated according to the propelling system operation environment information and the corrosion type label; when the real-time rotating speed exceeds the updated cavitation rotating speed threshold value, microbubble output parameters of a target microbubble outlet are adjusted according to the water body information and the corrosion type label.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of underwater thruster control, and in particular to an underwater thruster control method and system based on cavitation corrosion analysis. Background Art

[0002] Nowadays, underwater thrusters are all faced with the problem of cavitation. Cavitation refers to the process in which the pressure of the surrounding liquid drops below the saturated vapor pressure of the liquid when the blades of an underwater thruster rotate at high speed, resulting in the formation of bubbles (cavitation bubbles) inside the liquid. These bubbles quickly collapse in the high-pressure area, generating strong shock waves and microjets, causing erosion and damage to the surface of the underwater thruster blades, and at the same time triggering noise and vibration.

[0003] This application mainly focuses on medium and large underwater thrusters. In order to alleviate cavitation, a microbubble injection system can be set at the water inlet of the underwater thruster. The microbubble injection system forms microbubbles by injecting gas, which can change the local flow field pressure distribution and reduce the formation of pressure drop areas, thereby suppressing the generation of cavitation bubbles under the high-speed rotation of the underwater thruster blades.

[0004] However, in the prior art, the control of the microbubble size, injection position, action position, and injection frequency is a difficult point. The control of the microbubble size and injection frequency is mainly carried out by the microbubble injection system. However, these two control parameters need to be analyzed according to the real-time cavitation situation of the underwater thruster. In the prior art, only the rotational speed is usually considered, that is, when the rotational speed reaches a certain threshold, the microbubble injection system is turned on with constant power, and the microbubble size and injection frequency are relatively fixed.

[0005] The injection position of microbubbles refers to setting a number of microbubble outlets on the microbubble injection system. Generally, the microbubble outlets are evenly arranged at the inlet of the microbubble injection system. The microbubble output ports output bubbles through preset microbubble output parameters (microbubble size control parameters and injection frequency control parameters). After the bubbles are output, the contact area with the underwater thruster blades is the action position of the microbubbles. Since the blades rotate continuously during operation, the action position of the microbubbles can actually inhibit cavitation for a part of each blade area. The action position of the microbubbles is usually determined by the inflow trajectory. When the inflow speed is relatively stable and there is no foreign object stirring the inflowing water, the action position of the microbubbles output from each microbubble outlet on the microbubble injection system can be calculated through the simulated operation trajectory.

[0006] However, in the prior art, during the long-term use of the blades of traditional underwater thrusters, corrosion of varying degrees and sizes is likely to occur. The corrosion of the blades will cause the cavitation speed threshold (the critical speed when the cavitation phenomenon occurs) to decrease. This means that after the cavitation phenomenon appears, the research on the microbubble injection system will only perform cavitation suppression treatment at the original cavitation speed threshold, further leading to blade corrosion. Secondly, traditional underwater thrusters use a shaft-type propeller system. The shaft of the shaft-type propeller system drives the blades through its own rotation during operation and also stirs the water flow. When foreign objects adhere to the shaft, the stirring of the water flow becomes more intense, causing the action position of the microbubbles to deviate. Even when using a shaftless propulsion system (shaftless propeller system), due to the different ways of inlet and outlet water flows, there are differences in the calculation methods of the cavitation degree received by the blades. This further makes it difficult to perform cavitation suppression treatment evenly and impossible to perform stronger cavitation suppression treatment on the corroded areas, increasing the cavitation corrosion situation of the underwater thruster in real scenarios. Summary of the Invention

[0007] The present application discloses a control method and system for an underwater thruster based on cavitation corrosion analysis, which is used to reduce the cavitation corrosion situation of the underwater thruster in real scenarios.

[0008] In a first aspect, an embodiment of the present application provides a control method for an underwater thruster based on cavitation corrosion analysis, including: Obtain a captured image of the shaftless propulsion system in the underwater thruster. The captured image is a captured image taken from the water inlet side of the shaftless propulsion system. The underwater thruster further includes a microbubble injection system, and evenly distributed microbubble outlets are provided on the microbubble injection system; Determine the effective area of the captured image, perform corrosion detection on the effective area, and determine the corrosion area and corrosion type label; Determine the target microbubble outlet where the microbubble action point is located in the corrosion area; When the underwater thruster is operating, real-time obtain the current water body information and propulsion system operating environment information of the underwater thruster; Update the cavitation speed threshold of the underwater thruster according to the propulsion system operating environment information and the corrosion type label; When the real-time speed exceeds the updated cavitation speed threshold, adjust the microbubble output parameters of the target microbubble outlet according to the water body information and the corrosion type label.

[0009] Optionally, the step of determining the effective area of the captured image, performing corrosion detection on the effective area, and determining the corrosion area and corrosion type label includes: Determine the effective area of the blade in the captured image; Use the corrosion type recognition model to analyze the corrosion characteristics of the effective area of each blade, and determine the corrosion area and the corresponding corrosion type on each blade; Then, use the corrosion degree recognition model corresponding to the corrosion type to analyze the corrosion degree of the corrosion area, and generate a corrosion level for each corrosion area; Determine the corrosion type and corrosion level as the corrosion type label, and associate the corrosion type label with the corresponding corrosion area.

[0010] Optionally, the steps of determining the target microbubble outlet where the microbubble action point is located in the corrosion area include: Obtain the 3D model diagram of the underwater thruster, and determine the position distribution of the microbubble outlets of the microbubble injection system in the 3D model diagram; Project the microbubble outlet points of the microbubble outlets onto the shaftless propulsion system in the 3D model diagram according to the position distribution of the microbubble outlets; Intercept a first plane image of the shaftless propulsion system from the 3D model diagram according to the shooting point and shooting angle of the collected image; Map the projected microbubble outlet points on the shaftless propulsion system in the first plane image to the collected image one by one; By simulating the rotation of the blade in the real scene, perform a real scene simulation rotation on the blade in the collected image so that the corrosion area on the blade moves synchronously; Determine the circular trajectory area when the corrosion area in the collected image moves synchronously; Determine the microbubble outlet points located in the circular trajectory area, and determine the microbubble outlets corresponding to the microbubble outlet points located in the circular trajectory area as the target microbubble outlets.

[0011] Optionally, the bubble injection module is a rectifying grid type bubble injection module, and the rectifying grid type bubble injection module is used to adjust the inflow form of the water body while injecting bubbles, thereby controlling the inflow speed of the underwater thruster; The steps of determining the target microbubble outlet where the microbubble action point is located in the corrosion area include: Obtain the 3D model diagram of the underwater thruster, and determine the position distribution of the microbubble outlets of the microbubble injection system in the 3D model diagram; Generate the travel trajectories of the microbubbles for each microbubble outlet according to the inflow form of the rectifying grid type bubble injection module; Determine the action points of the bubbles on the shaftless propulsion system according to the travel trajectories; Intercept a second plane image of the shaftless propulsion system from the 3D model diagram according to the shooting point and shooting angle of the collected image; Map the action points of the bubbles in the second plane image to the collected image one by one; By simulating the rotation of the blade in a real scenario, the blade in the acquired image is rotationally simulated in the real scenario, so that the corroded area on the blade moves synchronously; Determine the annular trajectory area when the corroded area on the acquired image moves synchronously; Determine the action points of the bubbles located in the annular trajectory area, and determine the target microbubble outlet as the microbubble outlet corresponding to the action points of the bubbles located in the annular trajectory area.

[0012] Optionally, the water body information is the water body salinity information, and the microbubble output parameters include the microbubble output frequency and the microbubble output diameter; When the real-time rotation speed exceeds the updated cavitation rotation speed threshold, the steps of adjusting the microbubble output parameters of the target microbubble outlet according to the water body information and the corrosion type label include: When the real-time rotation speed exceeds the updated cavitation rotation speed threshold, obtain the blade root pressure parameter through a sensor; Calculate the blade pressure distribution data of the blade according to the water body salinity in the water body information and the blade root pressure parameter; Determine the maximum cavitation degree level of the corroded area according to the corrosion type label and the blade pressure distribution data; Adjust the microbubble output parameters of the target microbubble outlet according to the maximum cavitation degree level of the corroded area, so that the target microbubble outlet can output microbubbles at the calculated bubble output frequency and bubble output diameter.

[0013] Optionally, after the step of adjusting the microbubble output parameters of the target microbubble outlet according to the water body information and the corrosion type label when the real-time rotation speed exceeds the updated cavitation rotation speed threshold, the underwater thruster control method further includes: Determine the maximum cavitation degree level of the non-corroded area according to the blade pressure distribution data; Adjust the microbubble output parameters of the remaining microbubble outlets according to the maximum cavitation degree level of the non-corroded area.

[0014] Optionally, the propulsion system operating environment information includes the immersion depth information and the inlet flow velocity information; The steps of updating the cavitation rotation speed threshold of the underwater thruster according to the propulsion system operating environment information and the corrosion type label include: Determine the immersion depth pressure according to the immersion depth information of the underwater thruster; Update the cavitation rotation speed threshold of the underwater thruster according to the inlet flow velocity information, the immersion depth pressure and the corrosion type label.

[0015] In a second aspect, an embodiment of the present application provides an underwater thruster control system based on cavitation corrosion analysis, including: The first acquisition unit is configured to acquire a captured image of the shaftless propulsion system in the underwater thruster. The captured image is a captured image taken from the water inlet side of the shaftless propulsion system. The underwater thruster further includes a microbubble injection system, and the microbubble injection system is provided with uniformly distributed microbubble outlets; The first determination unit is configured to determine the valid region of the captured image, perform corrosion detection on the valid region, and determine the corrosion region and the corrosion type label; The second determination unit is configured to determine the target microbubble outlet where the microbubble action point is located in the corrosion region; The second acquisition unit is configured to, when the underwater thruster is operating, acquire the current water body information and the propulsion system operating environment information of the underwater thruster in real time; The update unit is configured to update the cavitation speed threshold of the underwater thruster according to the propulsion system operating environment information and the corrosion type label; The first adjustment unit is configured to, when the real-time speed exceeds the updated cavitation speed threshold, adjust the microbubble output parameters of the target microbubble outlet according to the water body information and the corrosion type label.

[0016] Optionally, the first determination unit includes: Determine the valid region of the blades in the captured image; Use the corrosion type recognition model to perform corrosion feature analysis on the valid region of each blade, and determine the corrosion region and the corresponding corrosion type on each blade; Then perform corrosion degree analysis on the corrosion region through the corrosion degree recognition model corresponding to the corrosion type, and generate a corrosion level for each corrosion region; Determine the corrosion type and the corrosion level as the corrosion type label, and associate the corrosion type label with the corresponding corrosion region.

[0017] Optionally, the second determination unit includes: Obtain the three-dimensional model diagram of the underwater thruster, and determine the position distribution of the microbubble outlets of the microbubble injection system in the three-dimensional model diagram; Project the microbubble outlet points of the microbubble outlets onto the shaftless propulsion system in the three-dimensional model diagram according to the position distribution of the microbubble outlets; Intercept a first plane image of the shaftless propulsion system from the three-dimensional model diagram according to the shooting point and shooting angle of the captured image; Map the microbubble outlet points projected on the shaftless propulsion system in the first plane image to the captured image one by one; By simulating the rotation of the blades in the real scene, perform real-scene simulation rotation on the blades in the captured image so that the corrosion regions on the blades move synchronously; Determine the circular trajectory region when the corrosion regions in the captured image move synchronously; Determine the microbubble outlet points located in the annular trajectory area, and determine the microbubble outlets corresponding to the microbubble outlet points in the annular trajectory area as the target microbubble outlets.

[0018] Optionally, the bubble injection module is a rectifying grid type bubble injection module, and the rectifying grid type bubble injection module is used to adjust the inflow form of the water body while injecting bubbles, thereby controlling the inflow speed of the underwater thruster; The second determination unit includes: Obtain the three-dimensional model diagram of the underwater thruster, and determine the position distribution of the microbubble outlets of the microbubble injection system in the three-dimensional model diagram; Generate the traveling trajectories of microbubbles for each microbubble outlet according to the inflow form of the rectifying grid type bubble injection module; Determine the acting points of the bubbles on the shaftless propulsion system according to the traveling trajectories; Intercept a second plane image of the shaftless propulsion system from the three-dimensional model diagram according to the shooting points and shooting angles of the collected images; Map the acting points of the bubbles in the second plane image to the collected images one by one; By simulating the rotation of the blades in the real scene, simulate the rotation of the blades on the collected images in the real scene so that the corrosion areas on the blades move synchronously; Determine the annular trajectory area when the corrosion areas on the collected images move synchronously; Determine the acting points of the bubbles located in the annular trajectory area, and determine the microbubble outlets corresponding to the acting points of the bubbles in the annular trajectory area as the target microbubble outlets.

[0019] Optionally, the water body information is the water body salinity information, and the microbubble output parameters include the microbubble output frequency and the microbubble output diameter; The first adjustment unit includes: When the real-time rotational speed exceeds the updated cavitation rotational speed threshold, obtain the blade root pressure parameters through the sensor; Calculate the blade pressure distribution data of the blade according to the water body salinity in the water body information and the blade root pressure parameters; Determine the maximum cavitation degree level of the corrosion area according to the corrosion type label and the blade pressure distribution data; Adjust the microbubble output parameters of the target microbubble outlet according to the maximum cavitation degree level of the corrosion area, so that the target microbubble outlet can output microbubbles at the calculated bubble output frequency and bubble output diameter.

[0020] Optionally, after the first adjustment unit, the underwater thruster control system further includes: A third determination unit, configured to determine the maximum cavitation degree level of the non-corrosion area according to the blade pressure distribution data; A second adjustment unit, configured to adjust the microbubble output parameters of the remaining microbubble outlets according to the maximum cavitation degree level of the non-corrosion area.

[0021] Optionally, the propulsion system operating environment information includes immersion depth information and inlet flow velocity information; The update unit includes: Determine the immersion depth pressure according to the immersion depth information of the underwater thruster; Update the cavitation speed threshold of the underwater thruster according to the inlet flow velocity information, the immersion depth pressure, and the corrosion type label.

[0022] In a third aspect, an embodiment of the present application provides an underwater thruster control system based on cavitation corrosion analysis, including: a processor, a memory, an input / output unit, and a bus; the processor is connected to the memory, the input / output unit, and the bus; the memory stores a program, and the processor calls the program to execute the underwater thruster control method as described in the first aspect and any optional aspects of the first aspect.

[0023] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a program is stored, and when the program is executed on a computer, it executes the underwater thruster control method as described in the first aspect and any optional aspects of the first aspect.

[0024] It can be seen from the above technical solutions that the embodiments of the present application have the following advantages: In the present application, first, an acquisition image of the shaftless propulsion system in the underwater thruster is obtained. The acquisition image is a captured image taken from the water inlet side of the shaftless propulsion system. The underwater thruster further includes a microbubble injection system, and the microbubble injection system is provided with uniformly distributed microbubble outlets. Determine the effective area of the acquisition image, perform corrosion detection on the effective area, and determine the corrosion area and the corrosion type label. Determine the target microbubble outlet where the microbubble action point is located in the corrosion area. When the underwater thruster is operating, the current water body information and the propulsion system operating environment information of the underwater thruster are obtained in real time. Update the cavitation speed threshold of the underwater thruster according to the propulsion system operating environment information and the corrosion type label. When the real-time speed exceeds the updated cavitation speed threshold, adjust the microbubble output parameters of the target microbubble outlet according to the water body information and the corrosion type label.

[0025] The shaftless propulsion system eliminates the traditional drive shaft and places the propeller blades inside a ring-shaped motor. This method reduces the agitation of the water flow, allowing microbubbles to enter the preset area of the shaftless propulsion system along a trajectory for cavitation suppression. By analyzing the corrosion condition of the blades in the captured images, pitting corrosion and crevice corrosion on the blades are determined, as well as the degree of corrosion, and then a corrosion type label is generated. The corrosion type label is used to determine the impact of corrosion on the cavitation speed threshold, and the cavitation speed threshold is adjusted in real time in combination with water body information and the operating environment information of the propulsion system, enabling faster cavitation suppression when cavitation occurs in the underwater thruster in the actual operating environment. Secondly, based on the analysis of the corrosion area and the microbubble outlets of the microbubble injection system, the target microbubble outlets where the microbubbles act are determined to be in the corrosion area, and the microbubble output parameters of the target microbubble outlets are adjusted to better suppress the cavitation phenomenon in the corrosion area and reduce the cavitation corrosion of the underwater thruster in the actual scenario. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the following drawings 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.

[0027] Figure 1 Schematic diagram of an embodiment of the underwater thruster control method based on cavitation corrosion analysis of the present application; Figure 2 Schematic diagram of an embodiment of the method for detecting the corrosion of the underwater thruster blades of the present application; Figure 3 Schematic diagram of an embodiment of the method for determining the target microbubble outlets of the present application; Figure 4 Schematic diagram of another embodiment of the method for determining the target microbubble outlets of the present application; Figure 5 Schematic diagram of an embodiment of the method for adjusting the microbubble output parameters of the target microbubble outlets of the present application; Figure 6 Schematic diagram of an embodiment of the method for adjusting the microbubble output parameters of non-target microbubble outlets of the present application; Figure 7 Schematic diagram of an embodiment of the method for updating the cavitation speed threshold of the present application; Figure 8 Schematic diagram of an embodiment of the underwater thruster control system based on cavitation corrosion analysis of the present application; Figure 9This is a schematic diagram of another embodiment of the underwater thruster control system based on cavitation corrosion analysis. Detailed implementation manners

[0028] In the following description, for the purpose of illustration rather than limitation, specific details such as specific system architectures and technologies are proposed to thoroughly understand the embodiments of the present application. However, those skilled in the art should clearly understand that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid unnecessary details from interfering with the description of the present application.

[0029] It should be understood that when used in the specification of the present application and the appended claims, the term "comprising" indicates the presence of the described features, wholes, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or their combinations.

[0030] It should also be understood that the term "and / or" used in the specification of the present application and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0031] As used in the specification of the present application and the appended claims, the term "if" can be interpreted as "when" or "once" or "in response to determining" or "in response to detecting" according to the context. Similarly, the phrase "if determined" or "if [the described condition or event] is detected" can be interpreted as meaning "once determined" or "in response to determining" or "once [the described condition or event] is detected" or "in response to detecting [the described condition or event]" according to the context.

[0032] In addition, in the description of the specification of the present application and the appended claims, the terms "first", "second", "third", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0033] The reference to "an embodiment" or "some embodiments" or the like described in the specification of the present application means that a specific feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, statements such as "in an embodiment", "in some embodiments", "in other some embodiments", "in still other embodiments", etc. that appear in different places in this specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "comprising", "including", "having", and their variants all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0034] In the prior art, the control of the size, injection position, action position, and injection frequency of microbubbles is a difficult point. The control of the size and injection frequency of microbubbles is mainly carried out by the microbubble injection system. However, these two control parameters need to be analyzed according to the real-time cavitation situation of the underwater thruster. In the prior art, only the rotational speed is usually considered, that is, when the rotational speed reaches a certain threshold, the microbubble injection system is turned on at a constant power, and the size and injection frequency of the microbubbles are relatively fixed.

[0035] The injection position of the microbubbles refers to setting a number of microbubble outlets on the microbubble injection system. Generally, the microbubble outlets are evenly set at the inlet of the microbubble injection system. The microbubble output ports output bubbles through preset microbubble output parameters (the size control parameter and injection frequency control parameter of the microbubbles). After the bubbles are output, the contact area with the underwater thruster blade is the action position of the microbubbles. Since the blade rotates continuously during operation, the action position of the microbubbles can actually inhibit cavitation in a part of the area of each blade. The action position of the microbubbles is usually determined by the inflow trajectory. When the inflow velocity is relatively stable and there is no foreign object stirring the inflowing water, the action position of the microbubbles output from each microbubble outlet on the microbubble injection system can be calculated through the simulated operation trajectory.

[0036] However, in the prior art, during the long-term use of the blades of traditional underwater thrusters, corrosion of different degrees and sizes is likely to occur. The corrosion of the blades will cause the cavitation speed threshold (the critical speed when the cavitation phenomenon occurs) to decrease. This makes it so that after the cavitation phenomenon appears, the research on the microbubble injection system will only perform cavitation inhibition treatment at the original cavitation speed threshold, further leading to blade corrosion. Secondly, traditional underwater thrusters use an axial propeller system. The shaft of the axial propeller system drives the blades to rotate through its own rotation during operation and also stirs the water flow. When foreign objects adhere to the shaft, the stirring of the water flow is more intense, causing the action position of the microbubbles to deviate. Even when using a shaftless propulsion system (shaftless propeller system), due to the different ways of inflowing and outflowing water, there are differences in the calculation methods of the cavitation degree received by the blades, which further makes it difficult to perform uniform cavitation inhibition treatment and impossible to perform stronger cavitation inhibition treatment on the corroded area, increasing the cavitation corrosion situation of the underwater thruster in real scenarios.

[0037] Based on this, the present application discloses an underwater thruster control method and system based on cavitation corrosion analysis, which is used to reduce the cavitation corrosion situation of the underwater thruster in real scenarios.

[0038] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0039] The method of the present application can be applied to a server, a device, a terminal, or other devices with logical processing capabilities. In this regard, the present application does not make any limitations. For the convenience of description, the following will take the execution entity as a terminal as an example for description.

[0040] Please refer to Figure 1 , an embodiment of a method for controlling an underwater thruster based on cavitation corrosion analysis provided by the present application includes: 101. Obtain a captured image of the shaftless propulsion system in the underwater thruster. The captured image is a captured image taken from the water inlet side of the shaftless propulsion system. The underwater thruster further includes a microbubble injection system, and the microbubble injection system is provided with uniformly distributed microbubble outlets. In this embodiment, the underwater thruster selects a shaftless propulsion system. This shaftless propulsion system is a rim-driven shaftless thruster. The stator of its motor is arranged in an annular conduit, the rotor is supported inside the stator by a bearing system, and the propeller blades are fixed on the rotor. When the motor is running, the blades of the propeller are directly driven by the rotor to rotate, so as to work. By integrating the motor and the propeller blades, the drive shaft is omitted, reducing the agitation of the inflow, enabling the water flow trajectory to be simulated, and laying a foundation for subsequent cavitation suppression.

[0041] In this embodiment, first, before the underwater thruster runs, the shaftless propulsion system is emptied, lifted above the water surface, or disassembled, and necessary cleaning is carried out. Then, image acquisition is performed from the water inlet side because the blades captured in this part are the parts most severely corroded by the cavitation phenomenon. The underwater thruster further includes a microbubble injection system, which is arranged on the water inlet side of the shaftless propulsion system. The microbubble injection system is provided with uniformly distributed microbubble outlets. Specifically, the cross-section of the water inlet of the shaftless propulsion system is circular. Taking the center of the circle as a fixed point, this circle is divided into several circular ring regions of different sizes. The propeller blades are respectively divided by multiple circular ring regions. The position design of the microbubble outlets needs to correspond to these circular ring regions as much as possible, so that the microbubble action points of the microbubble outlets are evenly distributed in each circular ring region, that is, every part of the propeller blade can be subjected to cavitation suppression treatment. There are various position designs for the microbubble outlets, which are not limited here. As long as the setting can achieve the above purpose, it meets the requirements of this embodiment.

[0042] It should be noted that this embodiment mainly targets medium and large underwater thrusters. Since the propeller blades of small underwater thrusters are small and only require some microbubble outlets, the microbubble action points can cover every part of the propeller blades without the need to detect the target microbubble outlets. Only by calculating the cavitation speed threshold can a good cavitation suppression effect be achieved. For medium and large underwater thrusters, a large number of microbubble outlets are required. After using the shaftless propulsion system, the water flow speed is controllable and the water flow trajectory is easy to simulate, that is, the trajectory of the microbubbles can be analyzed.

[0043] 102. Determine the effective area of the collected image, perform corrosion detection on the effective area, and determine the corrosion area and corrosion type label. In this embodiment, the terminal determines the effective area of the collected image, that is, determines the area of the shaftless propulsion system as the effective area, then determines the propeller blade area, and then performs corrosion detection on the propeller blade area to determine whether there is corrosion. If there is corrosion, it is necessary to further analyze the type and degree of corrosion, and locate the corrosion area, and generate a corrosion type label according to the type and degree of corrosion.

[0044] 103. Determine the target microbubble outlet where the microbubble action point is located in the corrosion area. In this embodiment, the microbubble injection system and the shaftless propulsion system are connected in sequence, and the water flow enters the shaftless propulsion system from the water inlet after passing through the microbubble injection system.

[0045] In this embodiment, the terminal needs to first perform water flow simulation analysis on the microbubble injection system and the shaftless propulsion system to analyze the water flow trajectory, and then analyze the movement trajectory of the microbubbles generated by each microbubble outlet, and associate the microbubble outlet, the microbubble trajectory, and the corrosion area to determine the target microbubble outlet where the microbubble action point is located in the corrosion area. Subsequently, the cavitation suppression treatment for the corrosion area can be carried out by adjusting the parameters of the target microbubble outlet, and the power loss is reduced by targeted cavitation suppression.

[0046] 104. When the underwater thruster is running, real-time obtain the current water body information and propulsion system operating environment information of the underwater thruster. 105. Update the cavitation speed threshold of the underwater thruster according to the propulsion system operating environment information and the corrosion type label. In this embodiment, after determining the target microbubble outlet, it is necessary to analyze the actual scenario operation of the underwater thruster. First, it is necessary to obtain the current water body information and the operation environment information of the propulsion system of the underwater thruster in real time. The current water body information of the underwater thruster refers to information such as seawater or fresh water with different salt concentrations. Water bodies with different salt concentrations will cause changes in cavitation phenomena, which are mainly reflected in affecting the pressure distribution on the back of the propeller blade, and further affecting the collapse degree of cavitation bubbles of the underwater thruster.

[0047] The operation environment information of the propulsion system mainly refers to other factors that can affect the cavitation speed threshold of the propeller blade, which will be specifically described and analyzed in subsequent embodiments.

[0048] Next, the terminal updates the cavitation speed threshold of the underwater thruster according to the operation environment information of the propulsion system and the corrosion type label, and determines the speed at which cavitation phenomena will occur under the current operation scenario.

[0049] 106. When the real-time speed exceeds the updated cavitation speed threshold, adjust the microbubble output parameters of the target microbubble outlet according to the water body information and the corrosion type label.

[0050] In this embodiment, when the terminal detects that the real-time speed exceeds the updated cavitation speed threshold, it is determined that the cavitation reaction is first caused in the corrosion area. At this time, the terminal determines the degree of cavitation phenomenon in the corrosion area according to the water body information and the corrosion type label, and then adjusts the microbubble output parameters of the target microbubble outlet, so that the microbubbles generated by the target microbubble outlet can effectively and specifically inhibit the cavitation phenomenon caused by the corrosion area.

[0051] In this embodiment, first, acquire the acquisition image of the shaftless propulsion system in the underwater thruster. The acquisition image is a captured image taken from the water inlet side of the shaftless propulsion system. The underwater thruster further includes a microbubble injection system, and evenly distributed microbubble outlets are arranged on the microbubble injection system. Determine the effective area of the acquisition image, perform corrosion detection on the effective area, and determine the corrosion area and the corrosion type label. Determine the target microbubble outlet where the microbubble action point is located in the corrosion area. When the underwater thruster is operating, obtain the current water body information and the operation environment information of the propulsion system of the underwater thruster in real time. Update the cavitation speed threshold of the underwater thruster according to the operation environment information of the propulsion system and the corrosion type label. When the real-time speed exceeds the updated cavitation speed threshold, adjust the microbubble output parameters of the target microbubble outlet according to the water body information and the corrosion type label.

[0052] The shaftless propulsion system eliminates the traditional drive shaft and places the propeller blades inside a ring-shaped motor. This method reduces the agitation of the water flow, allowing microbubbles to enter the preset area of the shaftless propulsion system along a trajectory for cavitation suppression. By analyzing the corrosion condition of the blades in the acquired images, pitting corrosion and crevice corrosion on the blades are identified, as well as the degree of corrosion, and then a corrosion type label is generated. The corrosion type label is used to determine the impact of corrosion on the cavitation speed threshold, and the cavitation speed threshold is adjusted in real time in combination with water body information and the operating environment information of the propulsion system, enabling faster cavitation suppression when cavitation occurs in the underwater thruster in the real operating environment. Secondly, based on the corrosion area and the microbubble outlet of the microbubble injection system, the target microbubble outlet where the microbubble action point is located in the corrosion area is determined, and the microbubble output parameters of the target microbubble outlet are adjusted to better suppress the cavitation phenomenon in the corrosion area and reduce the cavitation corrosion of the underwater thruster in the real scenario.

[0053] Please refer to Figure 2 , an embodiment of a method for detecting corrosion of an underwater thruster blade provided by this application includes: 201. Determine the effective area of the blade in the acquired image; 202. Use a corrosion type recognition model to analyze the corrosion characteristics of the effective area of each blade, and determine the corrosion area and the corresponding corrosion type on each blade; 203. Then analyze the corrosion degree of the corrosion area through a corrosion degree recognition model corresponding to the corrosion type, and generate a corrosion level for each corrosion area; 204. Determine the corrosion type and corrosion level as a corrosion type label, and associate the corrosion type label with the corresponding corrosion area.

[0054] In this embodiment, the terminal first locates each propeller blade, determines the effective area of the blade from the acquired image. Next, the terminal can use the corrosion type recognition model to analyze the corrosion characteristics of the effective area of each blade, determine the corrosion area and the corresponding corrosion type on each blade. Then, analyze the corrosion degree of the corrosion area through a corrosion degree recognition model corresponding to the corrosion type, and generate a corrosion level for each corrosion area. Generally, the corrosion grades of each area in the corrosion area are determined, and the highest grade is used as the corrosion degree of the corrosion area. Finally, the terminal determines the corrosion type and corrosion level as a corrosion type label, and associates the corrosion type label with the corresponding corrosion area.

[0055] The terminal will conduct cavitation simulation tests on the underwater thruster in advance for different corrosion type labels, analyze the enhancement ratio parameters of different corrosion type labels on cavitation, and accurately calculate the cavitation degree of the propeller blade in the real scenario.

[0056] Please refer to Figure 3 , an embodiment of a method for determining the target microbubble outlet provided by this application includes: 301. Obtain the three-dimensional model diagram of the underwater thruster, and determine the position distribution of the microbubble outlets of the microbubble injection system in the three-dimensional model diagram; 302. Project the microbubble outlet points of the microbubble outlets onto the shaftless propulsion system in the three-dimensional model diagram according to the position distribution of the microbubble outlets; In this embodiment, a medium-sized underwater thruster of the shaftless propulsion system is used. Usually, a medium-sized underwater thruster does not need to be provided with a structure for adjusting the flow rate. When the blades of the shaftless propulsion system rotate, due to the absence of a central shaft, compared with the shafted propulsion system, the water flow will also gather from the edge (blade bottom) of the shaftless propulsion system to the central area of the shaftless propulsion system. When this central area is larger, the water flow will also gather towards the center when it reaches the shaftless propulsion system. The central area is determined by the size of the blades of the entire shaftless propulsion system. Usually, the larger the underwater thruster, the larger the blades. However, in this embodiment, the central area of the medium-sized underwater thruster with the shaftless propulsion system is relatively small, and the influence on the water flow approaches zero. At this time, the water flow trajectory of the microbubble injection system can be considered a straight line.

[0057] The terminal obtains the three-dimensional model diagram of the underwater thruster, determines the position distribution of the microbubble outlets of the microbubble injection system in the three-dimensional model diagram, and then projects the microbubble outlet points of the microbubble outlets onto the shaftless propulsion system in the three-dimensional model diagram with the water inlet direction as the projection direction according to the position distribution of the microbubble outlets.

[0058] 303. Intercept a first plane image of the shaftless propulsion system from the three-dimensional model diagram according to the shooting points and shooting angles of the collected image; Next, the terminal intercepts a first plane image of the shaftless propulsion system from the three-dimensional model diagram according to the shooting points and shooting angles of the collected image, that is, obtains a first plane image identical to the collected image for comparison with the collected image.

[0059] 304. Map the microbubble outlet points projected on the shaftless propulsion system in the first plane image to the collected image one by one; In this embodiment, after the terminal obtains the first plane image, it is necessary to synchronously map the microbubble outlet points projected on the first plane image to the collected image.

[0060] 305. By simulating the rotation of the blade in the real scenario, the blade in the acquired image is rotationally simulated in the real scenario, so that the corroded area on the blade moves synchronously. 306. Determine the circular trajectory area when the corroded area on the acquired image moves synchronously. In this embodiment, the terminal rotationally simulates the blade in the acquired image by simulating the rotation of the blade in the real scenario, that is, rotates the corroded area on the blade and determines the cavitation influence range of the corroded area, so as to determine the circular trajectory area when the corroded area on the acquired image moves synchronously.

[0061] 307. Determine the micro-bubble outlet points located in the circular trajectory area, and determine the micro-bubble outlets corresponding to the micro-bubble outlet points located in the circular trajectory area as the target micro-bubble outlets.

[0062] In this embodiment, after the terminal determines the circular trajectory area when the corroded area moves synchronously, it directly selects the micro-bubble outlet points located in the circular trajectory area, and determines the micro-bubble outlets corresponding to the micro-bubble outlet points located in the circular trajectory area as the target micro-bubble outlets. The target micro-bubble outlets determined in this way are applicable to underwater thrusters without a flow velocity controller and with a relatively stable water flow mode. The disadvantage mode of this target micro-bubble outlet is relatively recommended, and complex trajectories do not need to be considered.

[0063] Please refer to Figure 4 , an embodiment of a method for determining a target micro-bubble outlet is provided in this application. Among them, the bubble injection module is a rectifying grid type bubble injection module, and the rectifying grid type bubble injection module is used to adjust the inflow form of the water body while injecting bubbles, so as to control the inflow speed of the underwater thruster. The steps for determining the target micro-bubble outlet where the micro-bubble action point is located in the corroded area include: 401. Obtain the three-dimensional model diagram of the underwater thruster, and determine the position distribution of the micro-bubble outlets of the micro-bubble injection system in the three-dimensional model diagram. 402. Generate the travel trajectories of the micro-bubbles for each micro-bubble outlet according to the inflow form of the rectifying grid type bubble injection module. 403. Determine the action points of the bubbles on the shaftless propulsion system according to the travel trajectories. In this embodiment, a large underwater thruster with a shaftless propulsion system is used. The blades of this shaftless propulsion system are large, but a relatively large central area will be left in the center area during rotation, causing more water to flow out of the central area. At this time, the water flow will change when approaching the shaftless propulsion system. Specifically, the water flow will converge towards the center when reaching the shaftless propulsion system, that is, the bubbles driven by the water flow will also change the action point position.

[0064] In addition, large underwater thrusters usually need to control the flow speed. In this embodiment, a rectifying grid type bubble injection module is used. The rectifying grid type bubble injection module can control the inflow speed. The principle of controlling the flow speed is that there are hollow holes on the rectifying grid for water to pass through. At this time, the trajectory of the water flow will simulate the water flow movement trajectory according to the hollow holes of the rectifying grid type bubble injection module, and then generate the travel trajectory of the microbubble according to the water flow movement trajectory.

[0065] Then the terminal obtains a three-dimensional model diagram of the underwater propulsion device, determines the position distribution of the microbubble outlets of the microbubble injection system in the three-dimensional model diagram, and determines the action point of the bubble on the shaftless propulsion system according to the travel trajectory.

[0066] 404. Capture a second plane image of the shaftless propulsion system from the three-dimensional model image according to the shooting point and shooting angle of the collected image; 405. Mapping the action points of the bubbles in the second plane image onto the acquired image one by one; 406. By simulating the rotation of the blade in the real scene, the blade on the collected image is rotated in a real scene simulation manner, so that the corrosion area on the blade moves synchronously; 407. Determine the annular trajectory area when the erosion area on the collected image performs synchronous motion; 408. Determine the action point of the bubble located in the annular track area, and determine the microbubble outlet corresponding to the action point of the bubble located in the annular track area as the target microbubble outlet.

[0067] The following steps 404 to 408 are similar to the aforementioned steps 303 to 307 and are not described in detail here.

[0068] Due to the addition of an inlet flow speed control module (rectifier grid type bubble injection module), this method causes the trajectory of the microbubbles to change when approaching the shaftless propulsion system and cannot form a complete straight line. Instead, it is a trajectory with an approximately straight line in the front section and a curve in the rear section. In this embodiment, the target microbubble outlet can be better determined through trajectory simulation, so that subsequent adjustments can better suppress the cavitation phenomenon caused by the corrosion area.

[0069] See also Figure 5 The present application provides an embodiment of a method for adjusting microbubble output parameters of a target microbubble outlet, wherein the water body information includes water body salinity, and the microbubble output parameters include microbubble output frequency and microbubble output diameter, including: 501. When the real-time rotation speed exceeds the updated cavitation rotation speed threshold, a blade root pressure parameter is obtained through a sensor; In this embodiment, in a large underwater thruster, there are differences in the water flow trajectories of the shaftless underwater propulsion system and the shafted underwater propulsion system during operation. The shafted underwater propulsion system has a diffused water flow trajectory, while the shaftless underwater propulsion system has a converging water flow trajectory. This causes different cavitation levels under the same other conditions. Therefore, a cavitation level calculation method specific to the shaftless underwater propulsion system is required.

[0070] The terminal first obtains the pressure parameters at the root of each blade in the shaftless propulsion system through sensors. It is necessary to determine the pressure in the blade area that converges towards the center based on the pressure parameters at the root of each blade, and then determine the cavitation level. Because there is a central area, the flow velocity in the central area is relatively large and the pressure is relatively small, while the pressure at the root of the blade is usually the largest. The terminal needs to calculate the maximum pressure in different areas of the blade based on the pressure parameters at the root of the blade obtained by the sensors.

[0071] 502. Calculate the blade pressure distribution data of the blade according to the water salinity in the water body information and the pressure parameters at the root of the blade; In this embodiment, changes in the water salinity will cause different viscosities on the blades of the shaftless propulsion system. And compared with the shafted propulsion system, the water salinity has a greater impact on the shaftless propulsion system. Because the blades of the shafted propulsion system are fixed to the shaft at the center and extend outwards, the roots of each blade are relatively close to each other. On the contrary, for the shaftless propulsion system, the roots of the blades are fixed at the edge and extend towards the center, and the roots of each blade are relatively farther apart. Therefore, when other conditions are the same, an increase in salinity will also increase the overall pressure distribution of the blades.

[0072] Next, the terminal calculates the blade pressure distribution data of the blade according to the water salinity in the water body information and the pressure parameters at the root of the blade.

[0073] Specifically, in this embodiment, first construct the formula for the pressure distribution on the surface of the blade of the shaftless propulsion system. Since the pressure borne by the blade of the shaftless propulsion system during operation is jointly affected by hydrodynamic loads (lift and drag) and centrifugal force, the formula for the pressure distribution on the surface of the blade constructed for the shaftless propulsion system based on hydrodynamic loads (lift and drag) and centrifugal force is as follows:

[0074] Among them, is the pressure distribution on the surface of the blade of the shaftless propulsion system, is the water pressure difference, is the centrifugal pressure difference, and r is the distance from a certain position on the blade to the center of the shaftless propulsion system.

[0075]

[0076] ρ is the current water salinity, and The lift coefficient and drag coefficient at radius r (related to the angle of attack α(r)), respectively.

[0077]

[0078] is the local relative velocity ( is the axial induced velocity, and ω is the rotational angular velocity). is the blade chord length at radius r.

[0079]

[0080] At this time, it is necessary to calculate the pressure at the root of the outermost blade of the shaftless underwater thruster:

[0081] R is the radius of the shaftless underwater thruster, and then the difference between the calculated pressure at the root of the outermost blade and the detected blade root pressure parameter is calculated to obtain the error.

[0082]

[0083] is the pressure error, is the blade root pressure parameter.

[0084] Subsequently, the blade pressure distribution data for each region of the blade is calculated through the pressure error, and the formula is as follows:

[0085] Among them, is the target blade pressure distribution in the region at a distance r from the center point. All the target blade pressure distributions are integrated to obtain the blade pressure distribution data. is the error change gradient in the region at a distance r from the center point. Since the thickness of the blade root is relatively large, and the thickness gradually decreases as it approaches the center point, and the pressure error is calculated at the root, it is necessary to adjust the error according to the corresponding region.

[0086] 503. Determine the maximum cavitation degree level of the corrosion area according to the corrosion type label and the blade pressure distribution data; In this embodiment, the meaning of the corrosion type label is the corrosion type and the corresponding corrosion degree. The higher the corrosion degree, the greater the impact on the pressure in this area, and the greater the comprehensive corrosion degree represented by the corrosion type label, which will greatly increase the pressure distribution value in the corresponding area of the blade (under the same corrosion type, the greater the corrosion degree, the greater the pressure distribution value in this blade area), and thus it is more likely to cause a stronger cavitation phenomenon. At this time, it is necessary to further analyze the blade pressure distribution data according to the corrosion type label to determine the maximum cavitation degree level in the corrosion area. Specifically, first, the corrosion area is partitioned according to the corrosion type and corrosion degree, the pressure mean value of each partition is calculated based on the blade pressure distribution data, and the cavitation degree level is calculated according to the pressure mean value of each partition, the corrosion type, and the corrosion degree corresponding to this corrosion type. The formula is as follows: E = K c + K P + K d where E is the cavitation degree level, K c is the cavitation increase coefficient brought by the corrosion type C. For example, the cavitation increases brought by pitting corrosion and crevice corrosion are different. P is the pressure mean value of this partition, and K P is the cavitation increase under the pressure mean value. The greater the pressure, the greater the cavitation increase. K d is the level increase of the corrosion degree d. The level increase of pitting corrosion is smaller than that of crevice corrosion.

[0087] 504. Adjust the microbubble output parameters of the target microbubble outlet according to the maximum cavitation degree level in the corrosion area, so that the target microbubble outlet can output microbubbles at the calculated bubble output frequency and bubble output diameter.

[0088] After calculating the cavitation degree level, the terminal needs to determine the maximum cavitation degree level in the corrosion area. According to the maximum cavitation degree level, adjust the microbubble output parameters of the target microbubble outlet, so that the target microbubble outlet can output microbubbles at the calculated bubble output frequency and bubble output diameter, which can effectively cope with the cavitation phenomenon in the corrosion area, so that when the cavitation phenomenon starts to occur in the corrosion area, or microbubbles are injected in advance, the cavitation phenomenon and cavitation degree in the corrosion area are greatly reduced.

[0089] Please refer to Figure 6 , an embodiment of a method for adjusting the microbubble output parameters of a non-target microbubble outlet provided by this application includes: 601. Determine the maximum cavitation degree level in the non-corrosion area according to the blade pressure distribution data; 602. Adjust the microbubble output parameters of the remaining microbubble outlets according to the maximum cavitation degree level in the non-corrosion area.

[0090] In this embodiment, in order to ensure the maximum cavitation degree level of the non-corrosion area in other blade areas except the corrosion area, the terminal blade pressure distribution data determines the maximum cavitation degree level of the non-corrosion area, and then adjusts the microbubble output parameters of the remaining microbubble outlets according to the maximum cavitation degree level of the non-corrosion area, and determines the other microbubble outlets except the target microbubble outlet. Such a design can reduce the operating cost of the microbubble injection system and improve the operating efficiency for medium and large underwater thrusters.

[0091] Please refer to Figure 7 , an embodiment of a method for updating the cavitation speed threshold is provided in this application. Among them, the propulsion system operating environment information includes immersion depth information and inlet flow velocity information, including: 701. Determine the immersion depth pressure according to the immersion depth information of the underwater thruster; 702. Update the cavitation speed threshold of the underwater thruster according to the inlet flow velocity information, immersion depth pressure, and corrosion type label.

[0092] In this embodiment, the terminal first determines the immersion depth pressure according to the immersion depth information of the underwater thruster, that is, calculates the immersion depth pressure borne according to the position of the current underwater thruster from the water surface. Next, the corrosion type label needs to be converted into a unified corrosion degree parameter, and then the cavitation speed threshold of the underwater thruster can be updated according to the inlet flow velocity information, immersion depth pressure, and corrosion degree parameter. Specifically, it is necessary to use propeller blades with different corrosion degrees for simulation in advance to determine the difficulty of cavitation generation of propeller blades with different corrosion types and corrosion degrees under the same conditions, and sort them accordingly, and assign values to the corrosion type labels.

[0093] In this embodiment, it is necessary to establish a calculation model with flow velocity, immersion depth pressure, and corrosion degree parameter as independent variables and the adjacent rotation speed value of cavitation generation as the dependent variable in advance, that is, comprehensively consider the inlet flow velocity information, immersion depth pressure, and corrosion degree parameter, and establish a mathematical model for calculating the cavitation speed threshold generated by the cavitation effect of the underwater thruster. This model is established based on fluid mechanics principles, cavitation theory, and experimental data. Specifically, this embodiment uses an empirical formula to describe the relationship between the cavitation speed threshold and the inlet flow velocity, immersion depth pressure, and corrosion degree parameter.

[0094] Next, the terminal inputs the obtained inlet flow velocity value v, immersion depth pressure value p, and corrosion degree parameter d into the calculation model. Then, calculate according to the calculation formula of the calculation model to obtain the cavitation speed threshold n generated by the cavitation effect of the underwater thruster. The calculation formula is as follows:

[0095] Among them, k is the comprehensive coefficient of the calculation model, n0 is the standard cavitation rotation speed threshold of the underwater thruster in a fresh water state, and a, b, and c are the respective influence indices of the flow velocity v, pressure p, and corrosion degree parameter d calculated during the simulation process, which reflect the sensitivity of each factor to the critical rotation speed. In practical applications, these indices can be obtained by fitting experimental data. Subsequently, the operating parameters of the underwater thruster during the simulated operation can also be collected to verify the calculated cavitation rotation speed threshold. Compare the rotation speed at which the cavitation effect actually occurs with the calculated rotation speed threshold. If there is a large deviation, the calculation model needs to be corrected. The correction method is to adjust the coefficients in the model to improve the accuracy of the calculation results.

[0096] Please refer to Figure 8 , this application provides an embodiment of an underwater thruster control system based on cavitation corrosion analysis, including: The first acquisition unit 801 is used to acquire the acquisition image of the shaftless propulsion system in the underwater thruster. The acquisition image is a captured image taken from the water inlet side of the shaftless propulsion system. The underwater thruster further includes a microbubble injection system, and the microbubble injection system is provided with uniformly distributed microbubble outlets; The first determination unit 802 is used to determine the effective area of the acquisition image, perform corrosion detection on the effective area, and determine the corrosion area and corrosion type label; Optionally, the first determination unit 802 includes: Determine the effective area of the blades in the acquisition image; Use the corrosion type recognition model to analyze the corrosion characteristics of the effective area of each blade, and determine the corrosion area and the corresponding corrosion type on each blade; Then, use the corrosion degree recognition model corresponding to the corrosion type to analyze the corrosion degree of the corrosion area, and generate a corrosion level for each corrosion area; Determine the corrosion type and corrosion level as the corrosion type label, and associate the corrosion type label with the corresponding corrosion area.

[0097] The second determination unit 803 is used to determine the target microbubble outlet where the microbubble action point is located in the corrosion area; Optionally, the second determination unit 803 includes: Obtain the three-dimensional model diagram of the underwater thruster, and determine the position distribution of the microbubble outlets of the microbubble injection system in the three-dimensional model diagram; Project the microbubble outlet points of the microbubble outlets onto the shaftless propulsion system in the three-dimensional model diagram according to the position distribution of the microbubble outlets; Intercept a first plane image of the shaftless propulsion system from the three-dimensional model diagram according to the shooting point and shooting angle of the acquisition image; Map the microbubble outlet points projected onto the shaftless propulsion system in the first planar image one by one onto the acquisition image; By simulating the rotation of the blade in the real scenario, perform a real-scenario simulation rotation on the blade in the acquisition image so that the corrosion area on the blade moves synchronously; Determine the circular trajectory area when the corrosion area in the acquisition image moves synchronously; Determine the microbubble outlet points located in the circular trajectory area, and determine the microbubble outlets corresponding to the microbubble outlet points located in the circular trajectory area as the target microbubble outlets.

[0098] Optionally, the bubble injection module is a rectifying grid type bubble injection module, and the rectifying grid type bubble injection module is used to adjust the inflow form of the water body while injecting bubbles, thereby controlling the inflow speed of the underwater thruster; The second determination unit 803 includes: Obtain the three-dimensional model diagram of the underwater thruster, and determine the position distribution of the microbubble outlets of the microbubble injection system in the three-dimensional model diagram; Generate the travel trajectories of microbubbles for each microbubble outlet according to the inflow form of the rectifying grid type bubble injection module; Determine the action points of the bubbles on the shaftless propulsion system according to the travel trajectories; Intercept a second planar image of the shaftless propulsion system from the three-dimensional model diagram according to the shooting point and shooting angle of the acquisition image; Map the action points of the bubbles in the second planar image one by one onto the acquisition image; By simulating the rotation of the blade in the real scenario, perform a real-scenario simulation rotation on the blade in the acquisition image so that the corrosion area on the blade moves synchronously; Determine the circular trajectory area when the corrosion area in the acquisition image moves synchronously; Determine the action points of the bubbles located in the circular trajectory area, and determine the microbubble outlets corresponding to the action points of the bubbles located in the circular trajectory area as the target microbubble outlets.

[0099] The second acquisition unit 804 is used to, when the underwater thruster is running, acquire the current water body information and the propulsion system operating environment information of the underwater thruster in real time; The update unit 805 is used to update the cavitation speed threshold of the underwater thruster according to the propulsion system operating environment information and the corrosion type label; Optionally, the propulsion system operating environment information includes immersion depth information and inflow speed information; The update unit 805 includes: Determine the immersion depth pressure according to the immersion depth information of the underwater thruster; Update the cavitation speed threshold of the underwater thruster according to the inlet flow rate information, immersion depth pressure, and corrosion type label.

[0100] The first adjustment unit 806 is configured to adjust the microbubble output parameters of the target microbubble outlet according to the water body information and the corrosion type label when the real-time speed exceeds the updated cavitation speed threshold.

[0101] Optionally, the water body information includes water body salinity and water body temperature, the operation environment information of the propulsion system includes immersion depth information and inlet flow rate information, and the microbubble output parameters include microbubble output frequency and microbubble output diameter; The first adjustment unit 806 includes: When the real-time speed exceeds the updated cavitation speed threshold, obtain the blade root pressure parameter through a sensor; Calculate the blade pressure distribution data of the blade according to the water body salinity in the water body information and the blade root pressure parameter; Determine the maximum cavitation degree level of the corrosion area according to the corrosion type label and the blade pressure distribution data; Adjust the microbubble output parameters of the target microbubble outlet according to the maximum cavitation degree level of the corrosion area, so that the target microbubble outlet can output microbubbles at the calculated bubble output frequency and bubble output diameter; The third determination unit 807 is configured to determine the maximum cavitation degree level of the non-corrosion area according to the blade pressure distribution data; The second adjustment unit 808 is configured to adjust the microbubble output parameters of the remaining microbubble outlets according to the maximum cavitation degree level of the non-corrosion area.

[0102] Please refer to Figure 9 , this application provides an underwater thruster control system based on cavitation corrosion analysis, including: A processor 901, a memory 902, an input / output unit 903, and a bus 904.

[0103] The processor 901 is connected to the memory 902, the input / output unit 903, and the bus 904.

[0104] The memory 902 stores a program, and the processor 901 calls the program to execute the underwater thruster control method as described in Figure 1 , Figure 2 and Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 .

[0105] This application provides a computer-readable storage medium, on which a program is stored, and when the program is executed on a computer, it executes as described in Figure 1, Figure 2 and Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 The underwater thruster control method in

[0106] (Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the above-described systems, devices, and units can refer to the corresponding processes in the foregoing method embodiments and will not be described herein again.)

[0107] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces, and the indirect couplings or communication connections of the devices or units can be in electrical, mechanical, or other forms.

[0108] The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiments of the present application.

[0109] In addition, the functional units in the various embodiments of the present application can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

[0110] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The foregoing storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs.

Claims

1. An underwater thruster control method based on cavitation corrosion analysis, characterized in that Including: Obtain a captured image of the shaftless propulsion system in the underwater thruster. The captured image is a captured image taken from the water inlet side of the shaftless propulsion system. The underwater thruster further includes a microbubble injection system, and evenly distributed microbubble outlets are provided on the microbubble injection system; Determine the effective area of the captured image, perform corrosion detection on the effective area, and determine the corrosion area and corrosion type label; Determine the target microbubble outlet where the microbubble action point is located in the corrosion area; When the underwater thruster is operating, real-time obtain the current water body information and the operating environment information of the propulsion system of the underwater thruster; Update the cavitation speed threshold of the underwater thruster according to the operating environment information of the propulsion system and the corrosion type label; When the real-time speed exceeds the updated cavitation speed threshold, adjust the microbubble output parameters of the target microbubble outlet according to the water body information and the corrosion type label.

2. The underwater thruster control method based on cavitation corrosion analysis according to claim 1, wherein The steps of determining the effective area of the captured image, performing corrosion detection on the effective area, and determining the corrosion area and corrosion type label include: Determine the effective area of the blades in the captured image; Use a corrosion type recognition model to perform corrosion feature analysis on the effective area of each blade, and determine the corrosion area and the corresponding corrosion type on each blade; Then perform corrosion degree analysis on the corrosion area through a corrosion degree recognition model corresponding to the corrosion type, and generate a corrosion level for each corrosion area; Determine the corrosion type and the corrosion level as the corrosion type label, and associate the corrosion type label with the corresponding corrosion area.

3. The underwater thruster control method based on cavitation corrosion analysis according to claim 2, wherein, The steps of determining the target microbubble outlet where the microbubble action point is located in the corrosion area include: Obtain a three-dimensional model diagram of the underwater thruster, and determine the position distribution of the microbubble outlets of the microbubble injection system in the three-dimensional model diagram; Project the microbubble outlet points of the microbubble outlets onto the shaftless propulsion system in the three-dimensional model diagram according to the position distribution of the microbubble outlets; Intercept a first plane image of the shaftless propulsion system from the three-dimensional model diagram according to the shooting point and shooting angle of the captured image; Map the microbubble outlet points projected on the shaftless propulsion system in the first plane image one by one to the captured image; By simulating the rotation of the blades in the real scene, perform real-scene simulation rotation on the blades in the captured image, so that the corrosion areas on the blades move synchronously; Determine the circular trajectory area when the corrosion areas in the captured image move synchronously; Determine the microbubble outlet points located in the circular trajectory area, and determine the microbubble outlets corresponding to the microbubble outlet points located in the circular trajectory area as the target microbubble outlets.

4. The underwater thruster control method based on cavitation corrosion analysis according to claim 3, characterized in that, The bubble injection module is a rectifying grid type bubble injection module, and the rectifying grid type bubble injection module is used to adjust the inflow form of the water body while injecting bubbles, so as to control the inflow speed of the underwater thruster; The steps of determining the target microbubble outlet where the microbubble action point is located in the corrosion area include: Obtain the 3D model diagram of the underwater thruster, and determine the position distribution of the microbubble outlets of the microbubble injection system in the 3D model diagram; Generate the traveling trajectories of microbubbles for each microbubble outlet according to the inlet flow form of the rectifying grid type bubble injection module; Determine the action points of the bubbles on the shaftless propulsion system according to the traveling trajectories; Intercept a second plane image of the shaftless propulsion system from the 3D model diagram according to the shooting point and shooting angle of the collected image; Map the action points of the bubbles in the second plane image to the collected image one by one; By simulating the rotation of the blades in the real scenario, simulate the rotation of the blades on the collected image in the real scenario so that the corrosion areas on the blades move synchronously; Determine the circular trajectory area when the corrosion areas on the collected image move synchronously; Determine the action points of the bubbles located in the circular trajectory area, and determine the target microbubble outlets corresponding to the action points of the bubbles located in the circular trajectory area.

5. The underwater thruster control method based on cavitation corrosion analysis according to claim 4, wherein The water body information is water body salinity information, and the microbubble output parameters include microbubble output frequency and microbubble output diameter; The step of adjusting the microbubble output parameters of the target microbubble outlets according to the water body information and the corrosion type label when the real-time speed exceeds the updated cavitation speed threshold includes: When the real-time speed exceeds the updated cavitation speed threshold, obtain the blade root pressure parameter through a sensor; Calculate the blade pressure distribution data of the blade according to the water body salinity in the water body information and the blade root pressure parameter; Determine the maximum cavitation degree level of the corrosion area according to the corrosion type label and the blade pressure distribution data; Adjust the microbubble output parameters of the target microbubble outlets according to the maximum cavitation degree level of the corrosion area so that the target microbubble outlets can output microbubbles at the calculated bubble output frequency and bubble output diameter.

6. The underwater thruster control method based on cavitation corrosion analysis according to claim 5, characterized in that After the step of adjusting the microbubble output parameters of the target microbubble outlets according to the water body information and the corrosion type label when the real-time speed exceeds the updated cavitation speed threshold, the underwater thruster control method further includes: Determine the maximum cavitation degree level of the non-corrosion area according to the blade pressure distribution data; Adjust the microbubble output parameters of the remaining microbubble outlets according to the maximum cavitation degree level of the non-corrosion area.

7. The underwater thruster control method based on cavitation corrosion analysis according to any one of claims 1 to 6, characterized in that The propulsion system operating environment information includes immersion depth information and inlet flow velocity information; The step of updating the cavitation speed threshold of the underwater thruster according to the propulsion system operating environment information and the corrosion type label includes: Determine the immersion depth pressure according to the immersion depth information of the underwater thruster; Update the cavitation speed threshold of the underwater thruster according to the inlet flow velocity information, the immersion depth pressure and the corrosion type label.

8. The underwater thruster control system based on cavitation corrosion analysis is characterized in that Include: A first acquisition unit for acquiring a captured image of the shaftless propulsion system in the underwater thruster, where the captured image is a captured image taken from the water inlet side of the shaftless propulsion system. The underwater thruster further includes a microbubble injection system, and evenly distributed microbubble outlets are provided on the microbubble injection system; A first determination unit for determining the effective area of the captured image, performing corrosion detection on the effective area, and determining the corrosion area and corrosion type label; A second determination unit for determining the target microbubble outlet where the microbubble action point is located in the corrosion area; A second acquisition unit for, when the underwater thruster is operating, acquiring in real time the current water body information and the propulsion system operating environment information of the underwater thruster; An update unit for updating the cavitation speed threshold of the underwater thruster according to the propulsion system operating environment information and the corrosion type label; A first adjustment unit for, when the real-time speed exceeds the updated cavitation speed threshold, adjusting the microbubble output parameters of the target microbubble outlet according to the water body information and the corrosion type label.

9. The underwater thruster control system based on cavitation corrosion analysis according to claim 8, characterized in that, The first determination unit includes: Determining the effective area of the blade in the captured image; Using a corrosion type recognition model to perform corrosion feature analysis on the effective area of each blade, and determining the corrosion area and the corresponding corrosion type on each blade; Then performing corrosion degree analysis on the corrosion area through the corrosion degree recognition model corresponding to the corrosion type, and generating a corrosion level for each corrosion area; Determining the corrosion type and the corrosion level as the corrosion type label, and associating the corrosion type label with the corresponding corrosion area.

10. The underwater thruster control system based on cavitation corrosion analysis according to claim 9, characterized in that, The second determination unit includes: Obtaining a three-dimensional model diagram of the underwater thruster and determining the position distribution of the microbubble outlets of the microbubble injection system in the three-dimensional model diagram; Projecting the microbubble outlet points of the microbubble outlets onto the shaftless propulsion system in the three-dimensional model diagram according to the position distribution of the microbubble outlets; Intercepting a first plane image of the shaftless propulsion system from the three-dimensional model diagram according to the shooting point and shooting angle of the captured image; Mapping one by one the microbubble outlet points projected on the shaftless propulsion system in the first plane image onto the captured image; Simulating the rotation of the blade in the real scene to perform real-scene simulation rotation on the blade in the captured image, so that the corrosion area on the blade moves synchronously; Determining the circular trajectory area when the corrosion area in the captured image moves synchronously; Determining the microbubble outlet points located in the circular trajectory area, and determining the microbubble outlets corresponding to the microbubble outlet points located in the circular trajectory area as the target microbubble outlets.

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