Underwater thruster control method and system based on cavitation corrosion analysis

Abstract

The present application discloses an underwater propeller control method and system based on cavitation corrosion analysis, which is used to reduce the cavitation corrosion of underwater propellers in real scenarios. The method includes obtaining an image of a shaftless propulsion system in the underwater propeller, wherein the underwater propeller also includes a microbubble injection system, and the microbubble injection system is provided with uniformly distributed microbubble outlets; determining the effective area of the acquired image, and performing corrosion detection on the effective area to determine the corrosion area and corrosion type label; determining the target microbubble outlet whose microbubble action point is located in the corrosion area; when the underwater propeller is running, obtaining the current water body information and propulsion system operating environment information of the underwater propeller in real time; updating the cavitation speed threshold of the underwater propeller according to the propulsion system operating environment information and the corrosion type label; and 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.

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] Today, underwater propulsion systems are facing the problem of cavitation. Cavitation occurs when the high-speed rotation of underwater propulsion blades causes the surrounding liquid pressure to drop below the saturated vapor pressure, leading to the formation of bubbles (cavitation) within the liquid. These bubbles quickly collapse in the high-pressure area, generating strong shock waves and microjets that erode and damage the blade surface, while also causing noise and vibration.

[0003] This application is primarily targeted at medium-sized and large underwater propellers. To mitigate cavitation, a micro-bubble injection system can be installed at the water inlet of the underwater propeller. The micro-bubble injection system injects gas to form micro-bubbles, which can change the local flow field pressure distribution, reduce the formation of pressure drop areas, and thus inhibit the generation of cavitation bubbles under the high-speed rotation of the underwater propeller blades.

[0004] However, in the existing technology, microbubble size control, injection position control, action position control and injection frequency control are difficult points. The microbubble size control and injection frequency control are mainly controlled by the microbubble injection system, but these two control parameters need to be analyzed based on the real-time cavitation situation of the underwater thruster. In the existing technology, 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 constant power, and the microbubble size and injection frequency are relatively fixed.

[0005] The microbubble injection location refers to the placement of several microbubble outlets on the microbubble injection system. These outlets are typically evenly spaced at the system's inlet. The microbubble output ports output bubbles according to preset microbubble output parameters (microbubble size control parameters and injection frequency control parameters). The contact area of the underwater propeller blades where the bubbles reach them serves as the microbubble's action location. Since the blades rotate continuously during operation, the microbubble's action location can effectively suppress cavitation in a portion of each blade. The microbubble's action location is typically determined by the trajectory of the incoming flow. When the inflow velocity is relatively stable and there are no foreign objects disturbing the incoming water, the action location of each microbubble outlet on the microbubble injection system can be calculated using a simulated trajectory.

[0006] However, in the existing technology, the blades of traditional underwater propellers are prone to corrosion of varying degrees and magnitudes during long-term use. Blade corrosion can cause the cavitation speed threshold (the critical speed at which cavitation occurs) to drop. This means that after cavitation occurs, the microbubble injection system will only perform cavitation suppression at the original cavitation speed threshold, further causing blade corrosion. Secondly, traditional underwater propellers use an axial propeller system. The shaft of the axial propeller system drives the blades through its own rotation during operation, and also stirs the water flow. When foreign matter is attached to the shaft, the stirring of the water flow is more intense, causing the action position of the microbubbles to deviate. Even if a shaftless propulsion system (shaftless propeller system) is used, the calculation method of the degree of cavitation to the blades will vary due to the different ways of inflow and outflow of water. This further makes it difficult to perform cavitation suppression treatment evenly and cannot provide stronger cavitation suppression treatment for the corroded area, increasing the cavitation corrosion of underwater propellers in real scenarios. Summary of the Invention

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

[0008] In a first aspect, an embodiment of the present application provides an underwater thruster control method based on cavitation corrosion analysis, comprising:

[0009] Acquire an image of a shaftless propulsion system in the underwater propulsion device, the image being captured from a water inlet side of the shaftless propulsion system. The underwater propulsion device further includes a microbubble injection system having uniformly distributed microbubble outlets.

[0010] Determine the effective area of the acquired image, perform corrosion detection on the effective area, and determine the corrosion area and corrosion type label;

[0011] Determine the target microbubble outlet at the microbubble action point in the corrosion area;

[0012] When the underwater propeller is running, the current water body information of the underwater propeller and the propulsion system operating environment information are obtained in real time;

[0013] Update the cavitation speed threshold of the underwater thruster based on the propulsion system operating environment information and corrosion type label;

[0014] When the real-time rotation speed exceeds the updated cavitation rotation speed threshold, the microbubble output parameters of the target microbubble outlet are adjusted according to the water body information and the corrosion type label.

[0015] Optionally, determining a valid area of the captured image, performing corrosion detection on the valid area, and determining the corrosion area and the corrosion type label include:

[0016] Determine the effective area of the leaf in the acquired image;

[0017] Use the corrosion type identification model to analyze the corrosion characteristics of the effective area of each blade to determine the corrosion area and the corresponding corrosion type on each blade;

[0018] Then, the corrosion degree of the corrosion area is analyzed using the corrosion degree identification model corresponding to the corrosion type, and a corrosion level is generated for each corrosion area;

[0019] The corrosion type and corrosion level are determined as corrosion type labels, and the corrosion type labels are associated with corresponding corrosion areas.

[0020] Optionally, the step of determining a target microbubble outlet at a microbubble action point located in a corrosion area includes:

[0021] Obtain a three-dimensional model diagram of the underwater propulsion system, and determine the position distribution of the microbubble outlets of the microbubble injection system in the three-dimensional model diagram;

[0022] 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;

[0023] A first plane image of the shaftless propulsion system is intercepted from the three-dimensional model image according to the shooting point and shooting angle of the collected image;

[0024] Mapping the microbubble exit points projected on the shaftless propulsion system in the first plane image onto the acquired image one by one;

[0025] By simulating the rotation of the blade in the real scene, the blade in the captured image is rotated in a simulated real scene so that the corrosion area on the blade moves synchronously;

[0026] Determine the annular trajectory area when the erosion area on the captured image performs synchronous motion;

[0027] A microbubble outlet point located in the annular track area is determined, and a microbubble outlet corresponding to the microbubble outlet point located in the annular track area is determined as a target microbubble outlet.

[0028] Optionally, the bubble injection module is a rectifier grid type bubble injection module, which is used to adjust the inflow form of the water body while injecting bubbles, thereby controlling the inflow speed of the underwater propeller;

[0029] The steps of determining the target microbubble outlet at the microbubble action point in the corrosion area include:

[0030] Obtain a three-dimensional model diagram of the underwater propulsion system, and determine the position distribution of the microbubble outlets of the microbubble injection system in the three-dimensional model diagram;

[0031] Generate a microbubble trajectory for each microbubble outlet according to the inlet flow form of the rectifier grid type bubble injection module;

[0032] Determine the action point of the bubble on the shaftless propulsion system according to the travel trajectory;

[0033] A second plane image of the shaftless propulsion system is intercepted from the three-dimensional model image according to the shooting point and shooting angle of the collected image;

[0034] Mapping the action points of the bubbles in the second plane image onto the acquired image one by one;

[0035] By simulating the rotation of the blade in the real scene, the blade in the captured image is rotated in a simulated real scene so that the corrosion area on the blade moves synchronously;

[0036] Determine the annular trajectory area when the erosion area on the captured image performs synchronous motion;

[0037] The action point of the bubble located in the annular track area is determined, and the microbubble outlet corresponding to the action point of the bubble located in the annular track area is determined as the target microbubble outlet.

[0038] Optionally, the water body information is water body salinity information, and the microbubble output parameters include microbubble output frequency and microbubble output diameter;

[0039] 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:

[0040] When the real-time speed exceeds the updated cavitation speed threshold, the blade root pressure parameter is obtained through the sensor;

[0041] Calculate the leaf pressure distribution data of the leaf according to the water body salinity and leaf root pressure parameters in the water body information;

[0042] Determine the maximum cavitation level of the corroded area based on the corrosion type label and blade pressure distribution data;

[0043] The microbubble output parameters of the target microbubble outlet are adjusted according to the maximum cavitation degree level of the erosion area, so that the target microbubble outlet can output microbubbles at the calculated bubble output frequency and bubble output diameter.

[0044] 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 propulsion device control method further includes:

[0045] Determine the maximum cavitation level in the non-corrosion area based on the blade pressure distribution data;

[0046] The microbubble output parameters of the remaining microbubble outlets are adjusted according to the maximum cavitation degree level of the non-corrosion area.

[0047] Optionally, the propulsion system operating environment information includes immersion depth information and inflow velocity information;

[0048] The steps of updating the cavitation speed threshold of the underwater propulsion system according to the propulsion system operating environment information and the corrosion type label include:

[0049] Determine the immersion pressure based on the immersion depth information of the underwater propeller;

[0050] The cavitation speed threshold of the underwater thruster is updated based on the inflow velocity information, immersion depth pressure, and corrosion type label.

[0051] In a second aspect, an embodiment of the present application provides an underwater thruster control system based on cavitation corrosion analysis, comprising:

[0052] a first acquisition unit, configured to acquire an image of a shaftless propulsion system in the underwater propulsion device, the image being acquired from a water inlet side of the shaftless propulsion system; the underwater propulsion device further comprising a microbubble injection system, the microbubble injection system being provided with uniformly distributed microbubble outlets;

[0053] A first determining unit is used to determine a valid area of the captured image, perform corrosion detection on the valid area, and determine a corrosion area and a corrosion type label;

[0054] a second determining unit, configured to determine that the microbubble action point is located at a target microbubble outlet in the corrosion area;

[0055] The second acquisition unit is used to acquire the current water body information and propulsion system operation environment information of the underwater propulsion system in real time when the underwater propulsion system is running;

[0056] An updating unit, configured to update a cavitation speed threshold of the underwater propulsion system according to the propulsion system operating environment information and the corrosion type label;

[0057] The first adjustment unit 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 rotation speed exceeds the updated cavitation rotation speed threshold.

[0058] Optionally, the first determining unit includes:

[0059] Determine the effective area of the leaf in the acquired image;

[0060] Use the corrosion type identification model to analyze the corrosion characteristics of the effective area of each blade to determine the corrosion area and the corresponding corrosion type on each blade;

[0061] Then, the corrosion degree of the corrosion area is analyzed using the corrosion degree identification model corresponding to the corrosion type, and a corrosion level is generated for each corrosion area;

[0062] The corrosion type and corrosion level are determined as corrosion type labels, and the corrosion type labels are associated with corresponding corrosion areas.

[0063] Optionally, the second determining unit includes:

[0064] Obtain a three-dimensional model diagram of the underwater propulsion system, and determine the position distribution of the microbubble outlets of the microbubble injection system in the three-dimensional model diagram;

[0065] 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;

[0066] A first plane image of the shaftless propulsion system is intercepted from the three-dimensional model image according to the shooting point and shooting angle of the collected image;

[0067] Mapping the microbubble exit points projected on the shaftless propulsion system in the first plane image onto the acquired image one by one;

[0068] By simulating the rotation of the blade in the real scene, the blade in the captured image is rotated in a simulated real scene so that the corrosion area on the blade moves synchronously;

[0069] Determine the annular trajectory area when the erosion area on the captured image performs synchronous motion;

[0070] A microbubble outlet point located in the annular track area is determined, and a microbubble outlet corresponding to the microbubble outlet point located in the annular track area is determined as a target microbubble outlet.

[0071] Optionally, the bubble injection module is a rectifier grid type bubble injection module, which is used to adjust the inflow form of the water body while injecting bubbles, thereby controlling the inflow speed of the underwater propeller;

[0072] The second determining unit includes:

[0073] Obtain a three-dimensional model diagram of the underwater propulsion system, and determine the position distribution of the microbubble outlets of the microbubble injection system in the three-dimensional model diagram;

[0074] Generate a microbubble trajectory for each microbubble outlet according to the inlet flow form of the rectifier grid type bubble injection module;

[0075] Determine the action point of the bubble on the shaftless propulsion system according to the travel trajectory;

[0076] A second plane image of the shaftless propulsion system is intercepted from the three-dimensional model image according to the shooting point and shooting angle of the collected image;

[0077] Mapping the action points of the bubbles in the second plane image onto the acquired image one by one;

[0078] By simulating the rotation of the blade in the real scene, the blade in the captured image is rotated in a simulated real scene so that the corrosion area on the blade moves synchronously;

[0079] Determine the annular trajectory area when the erosion area on the captured image performs synchronous motion;

[0080] The action point of the bubble located in the annular track area is determined, and the microbubble outlet corresponding to the action point of the bubble located in the annular track area is determined as the target microbubble outlet.

[0081] Optionally, the water body information is water body salinity information, and the microbubble output parameters include microbubble output frequency and microbubble output diameter;

[0082] The first regulating unit comprises:

[0083] When the real-time speed exceeds the updated cavitation speed threshold, the blade root pressure parameter is obtained through the sensor;

[0084] Calculate the leaf pressure distribution data of the leaf according to the water body salinity and leaf root pressure parameters in the water body information;

[0085] Determine the maximum cavitation level of the corroded area based on the corrosion type label and blade pressure distribution data;

[0086] The microbubble output parameters of the target microbubble outlet are adjusted according to the maximum cavitation degree level of the erosion area, so that the target microbubble outlet can output microbubbles at the calculated bubble output frequency and bubble output diameter.

[0087] Optionally, after the first regulating unit, the underwater thruster control system further includes:

[0088] a third determining unit, configured to determine a maximum cavitation degree level in a non-corrosion area according to the blade pressure distribution data;

[0089] The second regulating unit is used to regulate the microbubble output parameters of the remaining microbubble outlets according to the maximum cavitation degree level of the non-corrosion area.

[0090] Optionally, the propulsion system operating environment information includes immersion depth information and inflow velocity information;

[0091] The update unit includes:

[0092] Determine the immersion pressure based on the immersion depth information of the underwater propeller;

[0093] The cavitation speed threshold of the underwater thruster is updated based on the inflow velocity information, immersion depth pressure, and corrosion type label.

[0094] In the third aspect, an embodiment of the present application provides an underwater thruster control system based on cavitation corrosion analysis, comprising: 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 first aspect and any optional underwater thruster control method of the first aspect.

[0095] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a program stored thereon. When the program is executed on a computer, the program executes the first aspect and any optional underwater thruster control method of the first aspect.

[0096] It can be seen from the above technical solutions that the embodiments of the present application have the following advantages:

[0097] In this application, first, a captured image of the shaftless propulsion system in the underwater propeller is obtained. The captured image is a captured image obtained by shooting from the water inlet side of the shaftless propulsion system. The underwater propeller also includes a microbubble injection system, and the microbubble injection system is provided with uniformly distributed microbubble outlets. The effective area of the captured image is determined, and corrosion detection is performed on the effective area to determine the corrosion area and the corrosion type label. The target microbubble outlet whose microbubble action point is located in the corrosion area is determined. When the underwater propeller is running, the current water body information and propulsion system operating environment information of the underwater propeller are obtained in real time. The cavitation speed threshold of the underwater propeller is updated according to the propulsion system operating environment information and the corrosion type label. When the real-time speed exceeds the updated cavitation speed threshold, the microbubble output parameters of the target microbubble outlet are adjusted according to the water body information and the corrosion type label.

[0098] The shaftless propulsion system eliminates the traditional drive shaft and places the propeller blades inside the annular motor. This method reduces the agitation of the water flow, allowing microbubbles to follow the trajectory into the preset area of the shaftless propulsion system for cavitation suppression. In addition, by analyzing the corrosion condition of the blades in the collected image, the presence of pit corrosion and crevice corrosion on the blades is 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. The cavitation speed threshold is also adjusted in real time based on water body information and propulsion system operating environment information, so that cavitation suppression can be performed more quickly when cavitation occurs in the underwater propulsion system under real operating conditions. Secondly, based on the corrosion area and the microbubble outlet of the microbubble injection system, the target microbubble outlet with the microbubble action point in the corrosion area is determined. By adjusting the microbubble output parameters of the target microbubble outlet, the cavitation phenomenon in the corrosion area is better suppressed, reducing the cavitation corrosion of the underwater propulsion system in real scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0099] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0100] Figure 1 This is a schematic diagram of an embodiment of the underwater propulsion control method based on cavitation corrosion analysis of the present application;

[0101] Figure 2 This is a schematic diagram of an embodiment of a method for detecting corrosion of underwater propeller blades according to the present application;

[0102] Figure 3 A schematic diagram of an embodiment of a method for determining a target microbubble outlet according to the present application;

[0103] Figure 4 A schematic diagram of another embodiment of a method for determining a target microbubble outlet according to the present application;

[0104] Figure 5 A schematic diagram of an embodiment of a method for adjusting microbubble output parameters of a target microbubble outlet according to the present application;

[0105] Figure 6 A schematic diagram of an embodiment of a method for adjusting microbubble output parameters of non-target microbubble outlets according to the present application;

[0106] Figure 7 A schematic diagram of an embodiment of a method for updating the cavitation speed threshold value for the present application;

[0107] Figure 8 This is a schematic diagram of an embodiment of an underwater propulsion control system based on cavitation corrosion analysis of this application;

[0108] Figure 9 This is a schematic diagram of another embodiment of the underwater propulsion control system based on cavitation corrosion analysis of the present application. DETAILED DESCRIPTION

[0109] In the following description, specific details such as specific system structures and techniques are provided for purposes of illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may 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 obscuring the description of the present application with unnecessary detail.

[0110] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or collections thereof.

[0111] It will also be understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0112] As used in this specification and the appended claims, the term "if" can be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "upon determination" or "in response to determining" or "upon detection of [described condition or event]" or "in response to detecting [described condition or event]," depending on the context.

[0113] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0114] References to "one embodiment" or "some embodiments" in this specification mean that a particular feature, structure, or characteristic described in conjunction with that embodiment is included in one or more embodiments of the present application. Thus, phrases such as "in one embodiment," "in some embodiments," "in other embodiments," and "in other embodiments" appearing in various places in this specification do not necessarily refer to the same embodiment, but rather mean "one or more but not all embodiments," unless otherwise specifically emphasized. The terms "including," "comprising," "having," and variations thereof all mean "including but not limited to," unless otherwise specifically emphasized.

[0115] In the existing technology, microbubble size control, injection position control, action position control and injection frequency control are difficult points. Microbubble size control and injection frequency control are mainly controlled by the microbubble injection system, but these two control parameters need to be analyzed based on the real-time cavitation situation of the underwater propeller. In the existing technology, 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 constant power, and the microbubble size and injection frequency are relatively fixed.

[0116] The microbubble injection location refers to the placement of several microbubble outlets on the microbubble injection system. These outlets are typically evenly spaced at the system's inlet. The microbubble output ports output bubbles according to preset microbubble output parameters (microbubble size control parameters and injection frequency control parameters). The contact area of the underwater propeller blades where the bubbles reach them serves as the microbubble's action location. Since the blades rotate continuously during operation, the microbubble's action location can effectively suppress cavitation in a portion of each blade. The microbubble's action location is typically determined by the trajectory of the incoming flow. When the inflow velocity is relatively stable and there are no foreign objects disturbing the incoming water, the action location of each microbubble outlet on the microbubble injection system can be calculated using a simulated trajectory.

[0117] However, in the existing technology, the blades of traditional underwater propellers are prone to corrosion of varying degrees and magnitudes during long-term use. Blade corrosion can cause the cavitation speed threshold (the critical speed at which cavitation occurs) to drop. This means that after cavitation occurs, the microbubble injection system will only perform cavitation suppression at the original cavitation speed threshold, further causing blade corrosion. Secondly, traditional underwater propellers use an axial propeller system. The shaft of the axial propeller system drives the blades through its own rotation during operation, and also stirs the water flow. When foreign matter is attached to the shaft, the stirring of the water flow is more intense, causing the action position of the microbubbles to deviate. Even if a shaftless propulsion system (shaftless propeller system) is used, the calculation method of the degree of cavitation to the blades will vary due to the different ways of inflow and outflow of water. This further makes it difficult to perform cavitation suppression treatment evenly and cannot provide stronger cavitation suppression treatment for the corroded area, increasing the cavitation corrosion of underwater propellers in real scenarios.

[0118] 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 of the underwater thruster in real scenarios.

[0119] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0120] The method of the present application can be applied to a server, device, terminal or other device with logic processing capability, and the present application does not limit this. For the convenience of description, the following description is based on the example of the execution subject being a terminal.

[0121] See also Figure 1 The present application provides an embodiment of an underwater thruster control method based on cavitation corrosion analysis, comprising:

[0122] 101. Acquire an image of a shaftless propulsion system in an underwater propulsion system, the image being captured from a water inlet side of the shaftless propulsion system. The underwater propulsion system further includes a microbubble injection system, and the microbubble injection system is provided with evenly distributed microbubble outlets.

[0123] In this embodiment, the underwater propeller chooses to use a shaftless propulsion system, which is a rim-driven shaftless propeller. The stator of its motor is arranged in an annular duct, and the rotor is supported inside the stator by a bearing system. The propeller blades are fixed on the rotor. During operation, the rotor directly drives the propeller blades to rotate, thereby performing work. By integrating the motor and propeller blades, the drive shaft is eliminated, the agitation of the incoming flow is reduced, and the water flow trajectory can be simulated, laying the foundation for subsequent cavitation suppression.

[0124] In this embodiment, before the underwater propulsion system is operated, the shaftless propulsion system is first idled and raised above the water surface, or disassembled and cleaned as necessary. Images are then captured from the water inlet side, as this portion of the blades is most severely corroded by cavitation. The underwater propulsion system also includes a microbubble injection system, which is located on the water inlet side of the shaftless propulsion system. The microbubble injection system is provided with evenly distributed microbubble outlets. Specifically, the water inlet of the shaftless propulsion system has a circular cross-section. This circle is divided into several annular regions of varying sizes, with the center of the circle as a fixed point. The propeller blades are each divided into multiple annular regions. The microbubble outlets are designed to correspond as closely as possible to these annular regions, ensuring that the microbubble action points of the microbubble outlets are evenly distributed within each annular region, ensuring that every part of the propeller blade receives cavitation suppression. There are many different designs for the location of the microbubble outlets, which are not limited here. The main point is that any configuration that achieves the above-mentioned purpose meets the requirements of this embodiment.

[0125] It should be noted that this embodiment is primarily targeted at medium- to large-sized underwater propellers. Because small propeller blades are small, only a few microbubble outlets are required. The microbubble action points can cover every part of the propeller blade, eliminating the need to detect target microbubble outlets. Simply calculating the cavitation speed threshold is sufficient to achieve a good cavitation suppression effect. Medium- to large-sized underwater propellers, on the other hand, require a large number of microbubble outlets. Furthermore, the use of a shaftless propulsion system allows for controllable water flow velocity and easy simulation of water flow trajectories, enabling analysis of microbubble trajectories.

[0126] 102. Determine the effective area of the acquired image, perform corrosion detection on the effective area, and determine the corrosion area and corrosion type label;

[0127] In this embodiment, the terminal determines the valid area of the captured image, that is, determines the area of the shaftless propulsion system as the valid area, then determines the propeller blade area, and then performs corrosion detection on the propeller blade area to determine whether corrosion exists. If corrosion exists, it is necessary to further analyze the type and degree of corrosion, and locate the corroded area, and generate a corrosion type label according to the type and degree of corrosion.

[0128] 103. Determine that the microbubble action point is located at the target microbubble outlet in the corrosion area;

[0129] In this embodiment, the microbubble injection system and the shaftless propulsion system are connected in sequence, and the water flows through the microbubble injection system and then enters the shaftless propulsion system from the water inlet.

[0130] In this embodiment, the terminal first simulates and analyzes the water flow trajectory of the microbubble injection system and the shaftless propulsion system. It then analyzes the motion trajectory of the microbubbles generated by each microbubble outlet, correlating the microbubble outlets, microbubble trajectories, and corrosion areas to identify target microbubble outlets with microbubble action points located within the corrosion area. Subsequent cavitation suppression in the corrosion area can be performed by adjusting the parameters of the target microbubble outlets, reducing power loss through targeted cavitation suppression.

[0131] 104. When the underwater propeller is running, obtain the current water body information and propulsion system operating environment information of the underwater propeller in real time;

[0132] 105. Update the cavitation speed threshold of the underwater propulsion system based on the propulsion system operating environment information and corrosion type label;

[0133] In this embodiment, after determining the target microbubble outlet, it is necessary to analyze the actual operation of the underwater propeller. First, it is necessary to obtain the current water body information of the underwater propeller and the propulsion system operating environment information in real time. The current water body information of the underwater propeller refers to information of different salt concentrations such as seawater or fresh water. Water bodies with different salt concentrations will cause the cavitation phenomenon to change, which is mainly reflected in affecting the pressure distribution on the back of the propeller blade, and then affecting the degree of collapse of the cavitation bubbles of the underwater propeller.

[0134] The propulsion system operating environment information mainly refers to other factors that can affect the propeller blade cavitation speed threshold, which will be specifically explained and analyzed in subsequent embodiments.

[0135] Next, the terminal updates the cavitation speed threshold of the underwater thruster based on the propulsion system operating environment information and corrosion type label, and determines the speed at which cavitation will occur under the current operating scenario.

[0136] 106. When the real-time rotation speed exceeds the updated cavitation rotation speed threshold, the microbubble output parameters of the target microbubble outlet are adjusted according to the water body information and the corrosion type label.

[0137] In this embodiment, when the terminal detects that the real-time rotational speed exceeds the updated cavitation rotational speed threshold, it determines that the corrosion area has first caused a cavitation reaction. At this time, the terminal determines the extent of the cavitation phenomenon in the corrosion area based on 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 suppress the cavitation phenomenon caused by the corrosion area.

[0138] In this embodiment, a captured image of the shaftless propulsion system in the underwater propeller is first obtained. The captured image is a captured image taken from the water inlet side of the shaftless propulsion system. The underwater propeller also includes a microbubble injection system, and the microbubble injection system is provided with uniformly distributed microbubble outlets. The effective area of the captured image is determined, and corrosion detection is performed on the effective area to determine the corrosion area and corrosion type label. The target microbubble outlet whose microbubble action point is located in the corrosion area is determined. When the underwater propeller is running, the current water body information and propulsion system operating environment information of the underwater propeller are obtained in real time. The cavitation speed threshold of the underwater propeller is updated according to the propulsion system operating environment information and the corrosion type label. When the real-time speed exceeds the updated cavitation speed threshold, the microbubble output parameters of the target microbubble outlet are adjusted according to the water body information and the corrosion type label.

[0139] The shaftless propulsion system eliminates the traditional drive shaft and places the propeller blades inside the annular motor. This method reduces the agitation of the water flow, allowing microbubbles to follow the trajectory into the preset area of the shaftless propulsion system for cavitation suppression. In addition, by analyzing the corrosion condition of the blades in the collected image, the presence of pit corrosion and crevice corrosion on the blades is 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. The cavitation speed threshold is also adjusted in real time based on water body information and propulsion system operating environment information, so that cavitation suppression can be performed more quickly when cavitation occurs in the underwater propulsion system under real operating conditions. Secondly, based on the corrosion area and the microbubble outlet of the microbubble injection system, the target microbubble outlet with the microbubble action point in the corrosion area is determined. By adjusting the microbubble output parameters of the target microbubble outlet, the cavitation phenomenon in the corrosion area is better suppressed, reducing the cavitation corrosion of the underwater propulsion system in real scenarios.

[0140] See also Figure 2 The present application provides an embodiment of a method for detecting corrosion of underwater propeller blades, comprising:

[0141] 201. Determine a valid area of the leaf in the acquired image;

[0142] 202. Use the corrosion type identification model to analyze the corrosion characteristics of the effective area of each blade to determine the corrosion area and the corresponding corrosion type of each blade;

[0143] 203. Then, the corrosion degree of the corrosion area is analyzed using the corrosion degree identification model corresponding to the corrosion type, and a corrosion level is generated for each corrosion area;

[0144] 204. Determine the corrosion type and corrosion level as a corrosion type label, and associate the corrosion type label with the corresponding corrosion area.

[0145] In this embodiment, the terminal first locates each propeller blade and determines the blade's active area from the captured image. Next, the terminal uses a corrosion type recognition model to analyze the corrosion characteristics of each blade's active area, determining the corrosion area and the corresponding corrosion type. The terminal then uses a corrosion severity recognition model corresponding to the corrosion type to analyze the corrosion severity of each corrosion area, generating a corrosion grade for each corrosion area. Typically, the corrosion grade is determined for each area within the corrosion area, with the highest grade being used as the corrosion grade for that area. Finally, the terminal determines the corrosion type and grade as a corrosion type label and associates the corrosion type label with the corresponding corrosion area.

[0146] The terminal will conduct cavitation simulation tests on underwater propellers for different corrosion type labels in advance, analyze the enhancement ratio parameters of cavitation phenomena for different corrosion type labels, and accurately calculate the cavitation degree of subsequent propeller blades in real scenarios.

[0147] See also Figure 3 The present application provides an embodiment of a method for determining a target microbubble outlet, comprising:

[0148] 301. Obtain a three-dimensional model diagram of the underwater propulsion system, and determine the position distribution of microbubble outlets of the microbubble injection system in the three-dimensional model diagram;

[0149] 302. 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;

[0150] In this embodiment, a medium-sized underwater propeller with a shaftless propulsion system is used. Medium-sized underwater propellers generally do not require a structure for adjusting flow rate. As the blades of a shaftless propulsion system rotate, due to the lack of a central axis, the water flow tends to converge from the edge of the shaftless propulsion system (the bottom of the blades) toward the center of the system, compared to a shafted propulsion system. The larger this central area, the more concentrated the water flow will be when it reaches the shaftless propulsion system. The central area is determined by the size of the blades of the entire shaftless propulsion system. Generally, the larger the underwater propeller, the larger the blades. However, in this embodiment, the central area of the medium-sized underwater propeller with a shaftless propulsion system is relatively small, and its impact on the water flow is close to zero. At this time, the water flow trajectory of the microbubble injection system can be considered to be a straight line.

[0151] The terminal obtains a three-dimensional model diagram of the underwater propulsion system, determines the position distribution of the microbubble outlets of the microbubble injection system in the three-dimensional model diagram, and then uses the water inlet direction as the projection direction and projects 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.

[0152] 303. Capture a first plane image of the shaftless propulsion system from the three-dimensional model image according to the shooting point and shooting angle of the acquired image;

[0153] Next, the terminal captures a first plane image of the shaftless propulsion system from the three-dimensional model image according to the shooting point and shooting angle of the acquired image, that is, obtains a first plane image identical to the acquired image for comparison with the acquired image.

[0154] 304. Mapping the microbubble exit points projected on the shaftless propulsion system in the first plane image onto the acquired image one by one;

[0155] In this embodiment, after the terminal acquires the first planar image, it is necessary to synchronously map the projected microbubble exit points on the first planar image onto the acquired image.

[0156] 305. By simulating the rotation of the blade in the real scene, the blade on the captured image is rotated in the real scene simulation, so that the corrosion area on the blade moves synchronously;

[0157] 306. Determine a circular trajectory area when the erosion area on the captured image performs synchronous motion;

[0158] In this embodiment, the terminal simulates the rotation of the blade in the real scene and rotates the blade on the captured image in a real scene simulation manner, that is, the corrosion area on the blade is rotated and the cavitation influence range of the corrosion area is determined, so as to determine the annular trajectory area when the corrosion area on the captured image performs synchronous motion.

[0159] 307 : Determine a microbubble outlet point located in the annular trajectory area, and determine a microbubble outlet corresponding to the microbubble outlet point located in the annular trajectory area as a target microbubble outlet.

[0160] In this embodiment, after determining the circular trajectory of the synchronous motion of the corrosion area, the terminal directly selects the microbubble outlet point within the circular trajectory and determines the microbubble outlet corresponding to the microbubble outlet point within the circular trajectory as the target microbubble outlet. This method of determining the target microbubble outlet is suitable for underwater propulsion systems without flow rate controllers and with relatively stable water flow patterns. This method is relatively recommended and does not require consideration of complex trajectories.

[0161] See also Figure 4 The present application provides an embodiment of a method for determining a target microbubble outlet, wherein the bubble injection module is a rectifying grid type bubble injection module, which is used to adjust the inflow form of the water body while injecting bubbles, thereby controlling the inflow speed of the underwater propeller;

[0162] The steps of determining the target microbubble outlet at the microbubble action point in the corrosion area include:

[0163] 401. Obtain a three-dimensional model diagram of the underwater propulsion system, and determine the position distribution of microbubble outlets of the microbubble injection system in the three-dimensional model diagram;

[0164] 402. Generate a microbubble trajectory for each microbubble outlet according to the inflow form of the rectifier grid type bubble injection module;

[0165] 403. Determine the action point of the bubble on the shaftless propulsion system according to the travel trajectory;

[0166] In this embodiment, a large underwater propeller of a shaftless propulsion system is used. The blades of the shaftless propulsion system are large, but when rotating, a larger central area is left in the central area, allowing more water to flow out to the central area. At this time, the water flow will change when approaching the shaftless propulsion system. Specifically, the water flow will gather toward the center when reaching the shaftless propulsion system, that is, the bubbles driven by the water flow will also change the position of the point of action.

[0167] In addition, large underwater thrusters usually need to control the flow speed. In this embodiment, a rectifier grid type bubble injection module is used. The rectifier 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 rectifier 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 rectifier grid type bubble injection module, and then generate the movement trajectory of microbubbles according to the water flow movement trajectory.

[0168] The terminal then obtains a three-dimensional model diagram of the underwater propulsion system, 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.

[0169] 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 acquired image;

[0170] 405. Mapping the action points of the bubbles in the second plane image onto the acquired image one by one;

[0171] 406. By simulating the rotation of the blade in the real scene, the blade in the captured image is rotated in a simulated real scene, so that the corrosion area on the blade moves synchronously;

[0172] 407. Determine a circular trajectory area when the erosion area on the captured image performs synchronous motion;

[0173] 408. Determine the action point of the bubble located in the annular trajectory area, and determine the microbubble outlet corresponding to the action point of the bubble located in the annular trajectory area as the target microbubble outlet.

[0174] The following steps 404 to 408 are similar to the aforementioned steps 303 to 307 and are not described in detail here.

[0175] Due to the addition of an inlet velocity control module (rectifier grid-type bubble injection module), this method causes the trajectory of the microbubbles to change when approaching the shaftless propulsion system. This makes it impossible to form a complete straight line, but rather a trajectory with an approximately straight front section and a curved rear section. In this embodiment, trajectory simulation can better determine the target microbubble outlet, allowing subsequent adjustments to better suppress cavitation caused by the corrosion area.

[0176] See also Figure 5 The present application provides an embodiment of a method for adjusting microbubble output parameters of a target microbubble outlet, wherein water body information includes water body salinity, and microbubble output parameters include microbubble output frequency and microbubble output diameter, including:

[0177] 501. When the real-time rotation speed exceeds the updated cavitation rotation speed threshold, obtain the blade root pressure parameter through the sensor;

[0178] In this embodiment, since there are differences in the water flow trajectories of the shaftless underwater propulsion system and the shafted underwater propulsion system during operation in large underwater propulsion vehicles, the shafted underwater propulsion system has a diffuse water flow trajectory, while the shaftless underwater propulsion system has a convergent water flow trajectory, resulting in different cavitation degrees when other conditions are the same. Therefore, it is necessary to use a cavitation degree calculation method that is specific to the shaftless underwater propulsion system.

[0179] The terminal first obtains the root pressure parameters of each blade in the shaftless propulsion system through the sensor. The pressure of the blade area gathered toward the center needs to be determined by the blade root pressure parameters of each blade, and then the degree of cavitation is determined. Because there is a central area, the flow velocity in the central area is larger and its pressure will be smaller, while the pressure at the blade root is often the largest. The terminal needs to calculate the maximum pressure of different areas on the blade based on the blade root pressure parameters obtained by the sensor.

[0180] 502. Calculate blade pressure distribution data of the blade according to the water body salinity and the blade root pressure parameter in the water body information;

[0181] In this embodiment, changes in water salinity will cause the blades of the shaftless propulsion system to be affected by different degrees of viscosity, and compared with the shafted propulsion system, the salinity of the water has a greater impact on the shaftless propulsion system, because the blades of the shafted propulsion system are fixed to the shaft by the center and extend outward, and the root of each blade is relatively close. On the contrary, the shaftless propulsion system has the roots of the blades fixed at the edges and extend toward the center, and the roots of each blade are relatively far apart. Therefore, when other conditions are the same, an increase in salinity will also increase the overall pressure distribution of the blades.

[0182] Next, the terminal calculates the blade pressure distribution data of the blade according to the water salinity and the blade root pressure parameters in the water body information.

[0183] Specifically, in this embodiment, a formula for the pressure distribution on the blade surface of the shaftless propulsion system is first constructed. Since the pressure on the blades of the shaftless propulsion system during operation is the result of the combined effects of fluid dynamic loads (lift and drag) and centrifugal force, the blade surface pressure distribution formula constructed for the shaftless propulsion system based on the fluid dynamic loads (lift and drag) and centrifugal force is as follows:

[0184]

[0185] in, is the pressure distribution on the blade surface 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.

[0186]

[0187] ρ is the current water salinity, and are the lift coefficient and drag coefficient at radius r (related to the angle of attack α(r)).

[0188]

[0189] is the local relative velocity ( is the axial induced velocity, and ω is the rotational angular velocity). is the chord length of the blade at radius r.

[0190]

[0191] At this point, it is necessary to calculate the pressure at the root of the outermost blade of the shaftless underwater propeller:

[0192]

[0193] R is the radius of the shaftless underwater propeller, and then the error is calculated by subtracting the calculated pressure at the outermost blade root from the detected blade root pressure parameter.

[0194]

[0195] is the pressure error, is the blade root pressure parameter.

[0196] Subsequently, the blade pressure distribution data of each area of the blade is calculated by the pressure error. The formula is as follows:

[0197]

[0198] in, is the target blade pressure distribution in the area away from the center point r. All target blade pressure distributions are integrated to form the blade pressure distribution data. is the error change gradient of the area r away from the center point. Since the thickness of the root of the blade is larger and the thickness decreases gradually as it gets closer to the center point, the pressure error is calculated at the root, so the error needs to be adjusted according to the corresponding area.

[0199] 503. Determine the maximum cavitation level of the corrosion area based on the corrosion type label and the blade pressure distribution data;

[0200] In this embodiment, the meaning of the corrosion type label is the type of corrosion and the corresponding degree of corrosion. The higher the degree of corrosion, the greater its impact on the pressure of the area. The greater the comprehensive corrosion degree represented by the corrosion type label, the greater the pressure distribution value of the corresponding area of the blade will be greatly increased (under the same corrosion type, the greater the corrosion degree, the greater the pressure distribution value of the blade area), which will make it easier to cause stronger cavitation. 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 level of the corrosion area. Specifically, first, the corrosion area is partitioned according to the type of corrosion and the degree of corrosion, and the pressure mean of each partition is calculated based on the blade pressure distribution data. The cavitation level is calculated based on the pressure mean of each partition, the corrosion type, and the corrosion level corresponding to the corrosion type. The formula is as follows:

[0201] E=K c +K P +K d

[0202] Among them, E is the cavitation degree level, K c The cavitation amplification coefficient brought by corrosion type C, such as pitting corrosion and crevice corrosion, is different. P is the average pressure of the partition, K P is the cavitation increase at the mean pressure. The greater the pressure, the greater the cavitation increase. K d The increase in the level of corrosion degree d is smaller for pitting corrosion than for crevice corrosion.

[0203] 504. 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 with the calculated bubble output frequency and bubble output diameter.

[0204] After calculating the cavitation level, the terminal needs to determine the maximum cavitation level in the corrosion area and adjust the microbubble output parameters of the target microbubble outlet based on the maximum cavitation level so that the target microbubble outlet can output microbubbles at the calculated bubble output frequency and bubble output diameter. This can effectively address the cavitation phenomenon in the corrosion area, allowing microbubble injection to be performed when cavitation begins to occur in the corrosion area or in advance, greatly reducing the cavitation phenomenon and cavitation level in the corrosion area.

[0205] See also Figure 6 The present application provides an embodiment of a method for adjusting microbubble output parameters of a non-target microbubble outlet, comprising:

[0206] 601. Determine the maximum cavitation level in the non-corrosion area based on the blade pressure distribution data;

[0207] 602. Adjust the microbubble output parameters of the remaining microbubble outlets according to the maximum cavitation level of the non-corrosion area.

[0208] In this embodiment, in order to ensure the other blade areas except the corrosion area, the terminal blade pressure distribution data determines the maximum cavitation level of the non-corrosion area, and then the microbubble output parameters of the remaining microbubble outlets are adjusted according to the maximum cavitation level of the non-corrosion area, and other microbubble outlets other than the target microbubble outlet are determined. For medium and large underwater thrusters, such a design can reduce the operating cost of the microbubble injection system and improve the operating efficiency.

[0209] See also Figure 7 The present application provides an embodiment of a method for updating a cavitation speed threshold, wherein the propulsion system operating environment information includes immersion depth information and inflow velocity information, including:

[0210] 701. Determine the immersion pressure according to the immersion depth information of the underwater propeller;

[0211] 702. Update the cavitation speed threshold of the underwater propulsion system according to the inflow velocity information, the immersion depth pressure, and the corrosion type label.

[0212] In this embodiment, the terminal first determines the immersion pressure based on the underwater propeller's immersion depth information. Specifically, the immersion pressure is calculated based on the current position of the underwater propeller from the horizontal plane. Next, the corrosion type label needs to be converted into a unified corrosion severity parameter. Only then can the cavitation speed threshold of the underwater propeller be updated based on the inflow velocity information, immersion pressure, and corrosion severity parameter. Specifically, propeller blades with varying degrees of corrosion must be simulated in advance to determine the ease with which propeller blades with varying corrosion types and degrees of corrosion will experience cavitation under the same conditions. This is then used to rank the blades and assign values to the corrosion type labels.

[0213] In this embodiment, a computational model must be established in advance, using flow velocity, immersion pressure, and corrosion level parameters as independent variables and the speed at which cavitation occurs as the dependent variable. Specifically, this model comprehensively considers the inlet flow velocity, immersion pressure, and corrosion level parameters to establish a mathematical model for calculating the cavitation speed threshold for underwater propulsion cavitation. This model is 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 pressure, and corrosion level parameters.

[0214] Next, the terminal inputs the acquired inflow velocity value v, immersion pressure value p, and corrosion degree parameter d into the calculation model. Then, according to the calculation formula of the calculation model, the cavitation speed threshold n generated by the underwater propeller cavitation effect is calculated as follows:

[0215]

[0216] Among them, k is the comprehensive coefficient of the calculation model, n0 is the standard cavitation speed threshold of the underwater propeller under freshwater conditions, and a, b, and c are the influence indices of the flow velocity v, pressure p, and corrosion degree parameter d calculated during the simulation process, respectively. They reflect the sensitivity of each factor to the critical speed. In practical applications, these indices can be obtained by fitting experimental data. Subsequently, the operating parameters of the underwater propeller during the simulation operation can be collected to verify the calculated cavitation speed threshold. The actual observed speed when the cavitation effect occurs is compared with the calculated 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.

[0217] See also Figure 8 The present application provides an embodiment of an underwater propulsion system control system based on cavitation corrosion analysis, including:

[0218] A first acquisition unit 801 is configured to acquire an image of a shaftless propulsion system in an underwater propulsion device. The image is captured from the water inlet side of the shaftless propulsion system. The underwater propulsion device further includes a microbubble injection system having uniformly distributed microbubble outlets.

[0219] The first determining unit 802 is used to determine the valid area of the captured image, perform corrosion detection on the valid area, and determine the corrosion area and corrosion type label;

[0220] Optionally, the first determining unit 802 includes:

[0221] Determine the effective area of the leaf in the acquired image;

[0222] Use the corrosion type identification model to analyze the corrosion characteristics of the effective area of each blade to determine the corrosion area and the corresponding corrosion type on each blade;

[0223] Then, the corrosion degree of the corrosion area is analyzed using the corrosion degree identification model corresponding to the corrosion type, and a corrosion level is generated for each corrosion area;

[0224] The corrosion type and corrosion level are determined as corrosion type labels, and the corrosion type labels are associated with corresponding corrosion areas.

[0225] The second determining unit 803 is used to determine that the microbubble action point is located at a target microbubble outlet in the corrosion area;

[0226] Optionally, the second determining unit 803 includes:

[0227] Obtain a three-dimensional model diagram of the underwater propulsion system, and determine the position distribution of the microbubble outlets of the microbubble injection system in the three-dimensional model diagram;

[0228] 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;

[0229] A first plane image of the shaftless propulsion system is intercepted from the three-dimensional model image according to the shooting point and shooting angle of the collected image;

[0230] Mapping the microbubble exit points projected on the shaftless propulsion system in the first plane image onto the acquired image one by one;

[0231] By simulating the rotation of the blade in the real scene, the blade in the captured image is rotated in a simulated real scene so that the corrosion area on the blade moves synchronously;

[0232] Determine the annular trajectory area when the erosion area on the captured image performs synchronous motion;

[0233] A microbubble outlet point located in the annular track area is determined, and a microbubble outlet corresponding to the microbubble outlet point located in the annular track area is determined as a target microbubble outlet.

[0234] Optionally, the bubble injection module is a rectifier grid type bubble injection module, which is used to adjust the inflow form of the water body while injecting bubbles, thereby controlling the inflow speed of the underwater propeller;

[0235] The second determining unit 803 includes:

[0236] Obtain a three-dimensional model diagram of the underwater propulsion system, and determine the position distribution of the microbubble outlets of the microbubble injection system in the three-dimensional model diagram;

[0237] Generate a microbubble trajectory for each microbubble outlet according to the inlet flow form of the rectifier grid type bubble injection module;

[0238] Determine the action point of the bubble on the shaftless propulsion system according to the travel trajectory;

[0239] A second plane image of the shaftless propulsion system is intercepted from the three-dimensional model image according to the shooting point and shooting angle of the collected image;

[0240] Mapping the action points of the bubbles in the second plane image onto the acquired image one by one;

[0241] By simulating the rotation of the blade in the real scene, the blade in the captured image is rotated in a simulated real scene so that the corrosion area on the blade moves synchronously;

[0242] Determine the annular trajectory area when the erosion area on the captured image performs synchronous motion;

[0243] The action point of the bubble located in the annular track area is determined, and the microbubble outlet corresponding to the action point of the bubble located in the annular track area is determined as the target microbubble outlet.

[0244] The second acquisition unit 804 is used to acquire the current water body information and propulsion system operation environment information of the underwater propulsion system in real time when the underwater propulsion system is running;

[0245] An updating unit 805 is configured to update the cavitation speed threshold of the underwater propulsion system according to the propulsion system operating environment information and the corrosion type label;

[0246] Optionally, the propulsion system operating environment information includes immersion depth information and inflow velocity information;

[0247] The updating unit 805 includes:

[0248] Determine the immersion pressure based on the immersion depth information of the underwater propeller;

[0249] The cavitation speed threshold of the underwater thruster is updated based on the inflow velocity information, immersion depth pressure, and corrosion type label.

[0250] The first adjusting 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 rotation speed exceeds the updated cavitation rotation speed threshold.

[0251] Optionally, the water body information includes water body salinity and water body temperature, the propulsion system operating environment information includes immersion depth information and inflow velocity information, and the microbubble output parameters include microbubble output frequency and microbubble output diameter;

[0252] The first adjustment unit 806 includes:

[0253] When the real-time speed exceeds the updated cavitation speed threshold, the blade root pressure parameter is obtained through the sensor;

[0254] Calculate the leaf pressure distribution data of the leaf according to the water body salinity and leaf root pressure parameters in the water body information;

[0255] Determine the maximum cavitation level of the corroded area based on the corrosion type label and blade pressure distribution data;

[0256] adjusting microbubble output parameters of a target microbubble outlet according to a 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;

[0257] The third determining unit 807 is configured to determine the maximum cavitation level of the non-corrosion area according to the blade pressure distribution data;

[0258] The second adjusting unit 808 is configured to adjust the microbubble output parameters of the remaining microbubble outlets according to the maximum cavitation level of the non-corrosion area.

[0259] See also Figure 9 , this application provides an underwater thruster control system based on cavitation corrosion analysis, including:

[0260] Processor 901 , memory 902 , input / output unit 903 , and bus 904 .

[0261] The processor 901 is connected to the memory 902 , the input / output unit 903 , and the bus 904 .

[0262] The memory 902 stores a program, and the processor 901 calls the program to execute the following Figure 1 、 Figure 2 and Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 and Figure 7 Underwater thruster control method in .

[0263] The present application provides a computer-readable storage medium, wherein a program is stored on the computer-readable storage medium, and when the program is executed on a computer, the program performs the following operations: Figure 1 、 Figure 2 and Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 and Figure 7 Underwater thruster control method in .

[0264] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0265] In the several embodiments provided in this 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 schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as 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 mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0266] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiments of the present application.

[0267] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0268] 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, 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 enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, read-only memory), random access memory (RAM, random access memory), disk or optical disk, and other media that can store program code.

Claims

1. An underwater propulsion control method based on cavitation corrosion analysis is characterized in that: include: Acquiring a captured image of a shaftless propulsion system in the underwater propulsion device, wherein the captured image is captured from a water inlet side of the shaftless propulsion system, wherein the underwater propulsion device further includes a microbubble injection system, wherein the microbubble injection system is provided with evenly distributed microbubble outlets; Determine a valid area of the acquired image, perform corrosion detection on the valid area, and determine a corrosion area and a corrosion type label; Determine the target microbubble outlet at the microbubble action point in the corrosion area; When the underwater propeller is running, real-time acquisition of the current water body information and propulsion system operating environment information of the underwater propeller; updating the cavitation speed threshold of the underwater propeller according to the propulsion system operating environment information and the corrosion type label; When the real-time rotation speed exceeds the updated cavitation rotation speed threshold, the microbubble output parameter of the target microbubble outlet is adjusted according to the water body information and the corrosion type label.

2. The underwater propulsion control method based on cavitation corrosion analysis according to claim 1 is characterized in that: The steps of determining the effective area of the acquired image, performing corrosion detection on the effective area, and determining the corrosion area and the corrosion type label include: Determine the effective area of the leaf in the acquired image; Use the corrosion type identification model to analyze the corrosion characteristics of the effective area of each blade to determine the corrosion area and the corresponding corrosion type on each blade; Then, the corrosion degree of the corrosion area is analyzed using the corrosion degree identification model corresponding to the corrosion type, and a corrosion level is generated for each corrosion area; The corrosion type and the corrosion level are determined as a corrosion type label, and the corrosion type label is associated with a corresponding corrosion area.

3. The underwater propulsion control method based on cavitation corrosion analysis according to claim 2 is characterized in that: The step of determining the target microbubble outlet at the microbubble action point in the corrosion area comprises: Obtain a three-dimensional model diagram of the underwater propulsion system, and determine the position distribution of 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 according to the position distribution of the microbubble outlets; intercepting a first 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; Mapping the microbubble exit points projected on the shaftless propulsion system in the first plane image onto the acquired image one by one; By simulating the rotation of the blade in a real scene, the blade on the captured image is rotated in a simulated real scene, so that the corrosion area on the blade moves synchronously; Determining a circular trajectory area when the eroded area on the acquired image performs synchronous motion; A microbubble outlet point located in the annular track area is determined, and a microbubble outlet corresponding to the microbubble outlet point located in the annular track area is determined as a target microbubble outlet.

4. The underwater propulsion control method based on cavitation corrosion analysis according to claim 3 is characterized in that: The bubble injection module is a rectifier grid type bubble injection module, which is used to adjust the inflow form of the water body while injecting bubbles, thereby controlling the inflow speed of the underwater propeller; The step of determining the target microbubble outlet at the microbubble action point in the corrosion area comprises: Obtain a three-dimensional model diagram of the underwater propulsion system, and determine the position distribution of microbubble outlets of the microbubble injection system in the three-dimensional model diagram; Generate a microbubble trajectory for each microbubble outlet according to the inlet flow form of the rectifier grid type bubble injection module; determining the action point of the bubble on the shaftless propulsion system according to the travel trajectory; intercepting 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 acquired image; Mapping the action points of the bubbles in the second plane image onto the acquired image one by one; By simulating the rotation of the blade in a real scene, the blade on the captured image is rotated in a simulated real scene, so that the corrosion area on the blade moves synchronously; Determining a circular trajectory area when the eroded area on the acquired image performs synchronous motion; The action point of the bubble located in the annular track area is determined, and the microbubble outlet corresponding to the action point of the bubble located in the annular track area is determined as the target microbubble outlet.

5. The underwater propulsion control method based on cavitation corrosion analysis according to claim 4 is characterized in that: The water body information is water body salinity information, and the microbubble output parameters include microbubble output frequency and microbubble output diameter; When the real-time rotation speed exceeds the updated cavitation rotation speed threshold, the step of adjusting the microbubble output parameters of the target microbubble outlet according to the water body information and the corrosion type label includes: When the real-time speed exceeds the updated cavitation speed threshold, the blade root pressure parameter is obtained through the sensor; Calculating blade pressure distribution data of the blade according to the water body salinity in the water body information and the blade root pressure parameter; determining a maximum cavitation degree level of the corrosion region according to the corrosion type label and the blade pressure distribution data; The microbubble output parameters of the target microbubble outlet are adjusted according to the maximum cavitation degree level of the erosion area, so that the target microbubble outlet can output microbubbles with the calculated bubble output frequency and bubble output diameter.

6. The underwater propulsion control method based on cavitation corrosion analysis according to claim 5 is characterized in that: After the step of adjusting the microbubble output parameter 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 propulsion device control method further includes: determining a maximum cavitation degree level in a non-corrosion area based on the blade pressure distribution data; The microbubble output parameters of the remaining microbubble outlets are adjusted according to the maximum cavitation degree level of the non-corrosion area.

7. The underwater propulsion 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 inflow velocity information; The step of updating the cavitation speed threshold of the underwater propeller according to the propulsion system operating environment information and the corrosion type label includes: determining the immersion pressure according to the immersion depth information of the underwater propeller; The cavitation speed threshold of the underwater propeller is updated according to the inflow velocity information, the immersion depth pressure, and the corrosion type label.

8. Underwater propulsion control system based on cavitation corrosion analysis, characterized in that: include: a first acquisition unit, configured to acquire an image captured by the shaftless propulsion system in the underwater propulsion device, the image captured being an image captured from a water inlet side of the shaftless propulsion system, the underwater propulsion device further comprising a microbubble injection system, the microbubble injection system being provided with uniformly distributed microbubble outlets; A first determining unit is configured to determine a valid area of the acquired image, perform corrosion detection on the valid area, and determine a corrosion area and a corrosion type label; a second determining unit, configured to determine that the microbubble action point is located at a target microbubble outlet in the corrosion area; A second acquisition unit is used to acquire the current water body information and propulsion system operation environment information of the underwater propeller in real time when the underwater propeller is running; an updating unit, configured to update the cavitation speed threshold of the underwater propeller according to the propulsion system operating environment information and the corrosion type label; The first adjustment unit is configured to adjust the microbubble output parameter 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.

9. The underwater propulsion control system based on cavitation corrosion analysis according to claim 8, characterized in that: The first determining unit includes: Determine the effective area of the leaf in the acquired image; Use the corrosion type identification model to analyze the corrosion characteristics of the effective area of each blade to determine the corrosion area and the corresponding corrosion type on each blade; Then, the corrosion degree of the corrosion area is analyzed using the corrosion degree identification model corresponding to the corrosion type, and a corrosion level is generated for each corrosion area; The corrosion type and the corrosion level are determined as a corrosion type label, and the corrosion type label is associated with a corresponding corrosion area.

10. The underwater propulsion control system based on cavitation corrosion analysis according to claim 9, characterized in that: The second determining unit includes: Obtain a three-dimensional model diagram of the underwater propulsion system, and determine the position distribution of 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 according to the position distribution of the microbubble outlets; intercepting a first 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; Mapping the microbubble exit points projected on the shaftless propulsion system in the first plane image onto the acquired image one by one; By simulating the rotation of the blade in a real scene, the blade on the captured image is rotated in a simulated real scene, so that the corrosion area on the blade moves synchronously; Determining a circular trajectory area when the eroded area on the acquired image performs synchronous motion; A microbubble outlet point located in the annular track area is determined, and a microbubble outlet corresponding to the microbubble outlet point located in the annular track area is determined as a target microbubble outlet.

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