Water-sediment interface judgment device and method based on electrical principle

Abstract

The invention provides a water-sand interface judgment device and method based on the electrical principle, and relates to the technical field of computer processing.The device comprises an external floating body shell, the external floating body shell comprises a diving part and an external part, and a probe and a miniature pressure sensor are fixedly installed at the bottom of the diving part; an electrical measurement module is fixedly mounted in the diving part, and a probe is arranged at the detection end of the electrical measurement module; the external part is fixedly provided with a circuit board, a processor module and a communication interface are integrated on the circuit board, electric signals collected by the micro pressure sensor and the electrical measurement module are transmitted to the processor module, and the processor module converts the electric signals into digital signals and transmits the digital signals to a terminal through the communication interface; by collecting and analyzing parameters such as a conductivity value, a dielectric constant and a pressure measurement value, accurate judgment on a water-sand interface is realized, and the mechanical arm is controlled to perform accurate detection action.

Description

Technical Field

[0001] The present invention relates to the field of computer processing technologies, and particularly to a device and method for judging the water-sediment interface based on electrical principles. Background Art

[0002] Judging the water-sediment interface is a key step in measuring the underwater terrain of a hydraulic model. The accuracy of the judgment and the recording method after the judgment are directly related to the accuracy and efficiency of the terrain measurement.

[0003] Currently, there are two ways to achieve the judgment of the underwater water-sediment interface: The optoelectronic type is suitable for scenarios with low sediment concentrations and cannot work in scenarios with medium and high sediment concentrations. For its application in the prior art, refer to the Chinese patent with the publication number CN113899426A, which discloses a water-sediment interface judgment module and an underwater terrain measurement device for an estuary and coastal physical model.

[0004] The resistive type is applicable to insulating material model sand with pure sand quality and can be used for measurement under the conditions of clear water, low sediment concentration, and medium sediment concentration. For its application in the prior art, refer to the Chinese patent with the publication number CN111664887A, which discloses an in-situ observation method for the dynamic change of the submarine floating mud layer based on a resistivity probe.

[0005] The above two existing reference patents are used to illustrate the application of the prior art, rather than having a technical interrelationship with the technical problems of the present application. However, in the actual application of the resistive type, due to the limitation of the resistive value incremental threshold trigger mode, for water bodies with high sediment content, non-insulating material model sand, and composite sand quality, the resistive value does not increase monotonically, resulting in judgment errors with a relatively high error frequency. Summary of the Invention

[0006] In view of the above technical problems, the technical solution adopted by the present invention is a device for judging the water-sediment interface based on electrical principles, including an external floating body housing, and the external floating body housing includes a diving part and an external part, where: A probe and a micro pressure sensor are fixedly installed at the bottom of the diving part; An electrical measurement module is fixedly installed in the diving part, and the detection end of the electrical measurement module is the probe; A circuit board is fixedly installed in the external part, and a processor module and a communication interface are integrated on the circuit board. The electrical signals collected by the micro pressure sensor and the electrical measurement module are both transmitted to the processor module, and the processor module converts the electrical signals into digital signals and transmits them to the terminal through the communication interface; It further includes a robotic arm assembled at the bottom of the external part and used to drive the diving part to descend.

[0007] Preferably, the communication interface is directly connected to the terminal through a data cable or connected to a network transmission module or a wireless transmission module to establish a data connection with the terminal.

[0008] Preferably, the installation direction of the probe includes, but is not limited to, vertical perpendicular, inclined downward at any angle, horizontal, and inclined upward at any angle.

[0009] Preferably, the probe is composed of two steel needles distributed in parallel. The distance between the two steel needles is 8 mm, the length is 20 mm, and the diameter is 1 mm.

[0010] A judgment method is applied to the water-sediment interface judgment device based on the electrical principle described in the above solution. The method includes the following steps: S01. Collect data at a predetermined period and generate a set of measurement values. The set of measurement values includes the conductivity value б, the dielectric constant ε, and the pressure measurement value P, where: The conductivity value б and the dielectric constant ε are obtained by the electrical measurement module, and the pressure measurement value P is obtained by the micro pressure sensor; S02. Judge the working condition of the water-sediment interface judgment device based on the set of measurement values. The working conditions include in air and not touching the liquid, in the liquid and not touching the water-sediment interface, and touching the water-sediment interface. Among them, touching the water-sediment interface includes conditions of low sediment concentration, medium sediment concentration, and high sediment concentration; S03. According to the determined working condition, select a uniquely matching model from the model library including non-insulating material model sand and insulating material model sand to determine the trigger mode. Among them, non-insulating material model sand is applicable to conditions of pure sand, clear water, low sediment concentration, medium sediment concentration, and high sediment concentration, and insulating material model sand is applicable to conditions of pure sand, clear water, low sediment concentration, medium sediment concentration, and high sediment concentration under specific conditions; S04. Based on the trigger mode, monitor the subsequent obtained set of measurement values to assist the robotic arm to drive the diving part to complete the detection action; S05. Record and upload the process of the detection action. The upload includes the running direction and execution speed of the robotic arm, the running distance, and the elapsed time.

[0011] Preferably, the basis for judging the working condition in step S02 includes: In air and not touching the liquid: V 空气 ; In the liquid and not touching the water-sediment interface: V 清水 ; Touching the water-sediment interface: Under the condition of low sediment content, V 低含沙量 ; Under the condition of medium sediment concentration, V中等含沙量 ; Under the condition of high sediment concentration, V 高含沙量 ; Among them, the array elements [б1, ε1, P1] in V in the above formula are the measured values in the liquid, [б2, ε2, P2] are the measured values when contacting the water-sediment interface, and [б3, ε3, P3] are the measured values when completely inserted into the sand medium.

[0012] Preferably, it includes: Non-insulating material model sand: The conductivity value б increases monotonically and takes the value of б2 or less than б2, the dielectric constant ε changes non-monotonically and takes the value of ε2 or greater than ε2, and the pressure measurement value P is greater than zero and less than P3; Insulating material model sand: Under the conditions of pure sand, clear water, low sediment concentration, and medium sediment concentration, the conductivity value б increases monotonically and takes the value of б2 or greater than б2, the dielectric constant ε decreases monotonically and takes the value of ε2 or less than ε2, and the pressure measurement value P is greater than zero and less than P3; while under the condition of high sediment concentration, the conductivity value б changes non-monotonically and takes the value of б2 or greater than б2 and less than б3, the dielectric constant ε changes non-monotonically and takes the value of ε3 or greater than ε1 and greater than ε2, and the pressure measurement value P is greater than zero and less than P3.

[0013] Preferably, the trigger modes determined in the step S03 include: Under the condition of non-insulating material model sand and pure sand quality, the pressure trigger mode is triggered instantly when reaching the threshold P3, the conductivity trigger mode is triggered incrementally and reaches the threshold б2 instantly, and the dielectric constant trigger mode is triggered decrementally and reaches the threshold ε2 instantly; Under the conditions of insulating material model sand, pure sand, clear water, low sediment concentration, and medium sediment concentration, the pressure trigger mode is triggered instantly when reaching the threshold P3, the dielectric constant trigger mode is triggered decrementally and reaches the threshold ε2 instantly, and the conductivity trigger mode is triggered decrementally and reaches the threshold б2 instantly; Under the condition of insulating material model sand and high sediment concentration, the pressure trigger mode is triggered instantly when reaching the threshold P3, the conductivity trigger mode is triggered decrementally and reaches the threshold б2 instantly, and the dielectric constant trigger mode is triggered decrementally and reaches the threshold ε2 instantly.

[0014] Preferably, the monitoring of the subsequent obtained measurement value set in the step S04 to assist the manipulator to drive the diving part to complete the detection action includes: When the conductivity value is б 空气 the probe has not entered the water body; When the conductivity value is б1, it descends at a normal speed; When the conductivity value is greater than б1 and less than the threshold б2, it descends at a slow speed; When the conductivity value reaches the threshold б2, the momentary distance of the robotic arm reaching the threshold value is used as the interface position, and the robotic arm stops descending with the maximum acceleration.

[0015] The present invention has at least the following beneficial effects: After the device is started, data is collected at a predetermined period. When the measured value indicates that the device is in the liquid and has not touched the water-sand interface condition, a non-insulating material model is selected as the matching model. As the detection progresses, when the conductivity value approaches the trigger threshold, the robotic arm descends slowly; when the trigger threshold is reached, the robotic arm immediately stops descending and records the position. By recording and uploading the detection process information, the position of the water-sand interface and the sediment concentration can be accurately judged. Description of the Drawings

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0017] Figure 1 It is a schematic structural diagram of a water-sand interface judgment device based on the electrical principle provided in Embodiment 1 of the present invention; Figure 2 It is a schematic module diagram provided in Embodiment 1 of the present invention; Figure 3 It is a flowchart provided in Embodiment 2 of the present invention.

[0018] Explanation of the reference numerals in the drawings: 1. External floating body housing; 11. Submersible part; 12. External part; 13. Robotic arm; 2. Probe; 3. Micro pressure sensor; 4. Electrical measurement module. Detailed Embodiments

[0019] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.

[0020] It should be noted that the terms "first", "second", etc. in the specification, claims and the above-mentioned drawings of the present invention are used to distinguish similar objects and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or server comprising a series of steps or units does not have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0021] Embodiment 1:

[0022] This embodiment provides a water-sediment interface judgment device based on electrical principles, as Figure 1 and Figure 2 shown, including an external floating body housing 1, the external floating body housing 1 includes a diving part 11 and an external part 12, wherein: A probe 2 and a micro pressure sensor 3 are fixedly installed at the bottom of the diving part 11; An electrical measurement module 4 is fixedly installed in the diving part 11, and the detection end of the electrical measurement module 4 is the probe 2; The external part 12 is fixedly installed with a circuit board, and a processor module and a communication interface are integrated on the circuit board. The electrical signals collected by the micro pressure sensor 3 and the electrical measurement module 4 are both transmitted to the processor module, and the processor module converts the electrical signals into digital signals and transmits them to the terminal through the communication interface; It further includes a robotic arm 13 assembled at the bottom of the external part 12 and used to drive the diving part 11 to dive.

[0023] Furthermore, the communication interface in this embodiment includes being directly connected to the terminal through a data cable or connected to a network transmission module or a wireless transmission module to be data-connected to the terminal. And the computer is connected to the processor module through the communication interface, and the conductivity, dielectric constant, and trigger threshold of the micro pressure sensor 3 can be set and modified.

[0024] Secondly, the installation direction of the probe 2 in this embodiment includes but is not limited to vertically perpendicular, inclined downward at any angle, horizontal, and inclined upward at any angle.

[0025] Even further, the probe 2 in the above embodiment is composed of two steel needles distributed in parallel, and the distance between the two steel needles is 8 mm, the length is 20 mm, and the diameter is 1 mm.

[0026] In the above embodiments, the steel needle is electrically connected to the electrical measurement module 4. The electrical measurement module 4 applies high-frequency alternating current to the steel needle, and measures the conductivity and permittivity of the substance between the steel needles by the electrode method.

[0027] The electrical measurement module 4 includes a high-frequency constant-voltage conductivity measurement circuit and a high-frequency Wheatstone bridge permittivity measurement circuit, which is connected to the probe 2 to measure the conductivity and permittivity of the medium between the probes 2. This belongs to the prior art, so no detailed description will be given.

[0028] The micro pressure sensor 3 is a small-range one-dimensional pressure load sensor, which is fixed at the upper end of the probe 2 to measure the force data when the probe 2 touches the medium. The processor module is connected to the electrical measurement module 4 and the micro pressure sensor 3 through data lines, so that the processor module can receive the conductivity, permittivity, and pressure sensor measurement values, process and analyze them, and output a step trigger signal through logical judgments such as thresholds, trigger modes, and trigger priorities. The so-called step trigger signal, the normal output of the device is a low level of 0V. At the moment when the device is triggered, a step signal of 5V is sent. The step signal is a special continuous-time function that jumps from 0 to 1 (or a non-zero value) and remains unchanged.

[0029] Embodiment 2:

[0030] The embodiment of the present invention provides a method for judging the water-sediment interface based on electrical principles, as Figure 3 shown, including the following steps: S01. Collect data at a predetermined period and generate a measurement value set. The measurement value set includes a conductivity value б, a permittivity value ε, and a pressure measurement value P, where: The conductivity value б and the permittivity value ε are obtained by the electrical measurement module 4, and the pressure measurement value P is obtained by the micro pressure sensor 3; S02. Judge the working conditions of the water-sediment interface judging device based on the measurement value set. The working conditions include in air and not touching the liquid, in the liquid and not touching the water-sediment interface, and touching the water-sediment interface. Among them, touching the water-sediment interface includes conditions of low sediment concentration, medium sediment concentration, and high sediment concentration; S03. According to the determined working conditions, select a uniquely matching model from the model library including non-insulating material model sand and insulating material model sand to determine the trigger mode. Among them, non-insulating material model sand is applicable to conditions of pure sand, clear water, low sediment concentration, medium sediment concentration, and high sediment concentration, and insulating material model sand is applicable to conditions of pure sand, clear water, low sediment concentration, medium sediment concentration, and high sediment concentration under specific conditions; S04. Based on the trigger mode, monitor the subsequent obtained measurement value set to assist the manipulator 13 to complete the detection action of the diving part 11; S05. Record the process of the detection action and upload it. The upload includes the running direction and execution speed of the robotic arm 13, the running distance, and the elapsed time.

[0031] Specifically, after the device in the above embodiment is started, data is collected at a predetermined period. Each collection period generates a set of measurement values including the conductivity value б, the dielectric constant ε, and the pressure measurement value P. The conductivity value б and the dielectric constant ε are obtained by the electrical measurement module 4, and the pressure measurement value P is obtained by the micro pressure sensor 3. Then, based on the collected set of measurement values, the working condition of the device at present is judged. The working conditions are divided into three types: in air and not touching the liquid, in the liquid and not touching the water-sand interface, and contacting the water-sand interface (including conditions of low sediment concentration, medium sediment concentration, and high sediment concentration).

[0032] The judgment basis is as follows: When both the conductivity value б and the dielectric constant ε are close to the air values, and the pressure value P is zero or close to zero, it is judged as the working condition of being in air and not touching the liquid.

[0033] When both the conductivity value б and the dielectric constant ε change significantly, and the pressure value P is greater than zero but less than a certain threshold, it is judged as the working condition of being in the liquid and not touching the water-sand interface.

[0034] When the conductivity value б and the dielectric constant ε change further, and the pressure value P is close to or reaches another threshold, according to the different sediment concentrations, it is judged as different conditions of contacting the water-sand interface (low sediment concentration, medium sediment concentration, high sediment concentration).

[0035] According to the judged working condition, a uniquely matching model is selected from the model library including non-insulating material models and insulating material models. The selection basis includes the change trends and value ranges of the conductivity value б, the dielectric constant ε, and the pressure value P.

[0036] Specifically, the non-insulating material model is applicable to conditions of pure sand, clear water, low sediment concentration, medium sediment concentration, and high sediment concentration. The insulating material model is applicable to conditions of pure sand, clear water, low sediment concentration, medium sediment concentration, and high sediment concentration under specific conditions.

[0037] Based on the selected model, determine the trigger mode. The trigger modes include pressure trigger, conductivity trigger, and dielectric constant trigger. When the measured value reaches the preset trigger threshold, the device sends a step trigger message. After receiving the signal, the robotic arm 13 immediately stops descending and records the descending value. During the detection process, continuously monitor the set of measured values. Adjust the descending speed of the robotic arm 13 according to the change in the conductivity value б. When the conductivity value approaches the trigger threshold, descend slowly; when reaching the trigger threshold, the robotic arm 13 immediately stops descending and records the position. Record and upload information such as the running direction, execution speed, running distance, and elapsed time of the robotic arm 13 during the detection operation for subsequent analysis and processing.

[0038] Further, the basis for judging the working condition in step S02 in the above embodiment includes: Air and not touching the liquid: V 空气 (б 空气 、ε 空气 、P 空气 ); In the liquid and not touching the water-sand interface: V 清水 ([б1, ε1, P1], [б2, ε2, P2], [б3, ε3, P3]); Touching the water-sand interface: Low sediment content condition, V 低含沙量 ([б1, ε1, P1], [б2, ε2, P2], [б3, ε3, P3]); Medium sediment content condition, V 中等含沙量 ([б1, ε1, P1], [б2, ε2, P2], [б3, ε3, P3]); High sediment content condition, V 高含沙量 ([б1, ε1, P1], [б2, ε2, P2], [б3, ε3, P3]); Among them, the array element [б1, ε1, P1] in V in the above formula is the measured value in the liquid, [б2, ε2, P2] is the measured value when touching the water-sand interface, and [б3, ε3, P3] is the measured value when fully inserted into the sand medium.

[0039] In the above embodiment, by detecting the differences in the numerical changes of the collected conductivity value б, dielectric constant ε, and pressure value P, and triggering with the default values, the stage of the current operating state of the device is judged.

[0040] Secondly, the basis for judging and selecting the matching model in step S03 in the above embodiment includes: Non-insulating material model sand: The conductivity value б increases monotonically and takes the value of б2 or less than б2, the dielectric constant ε changes non-monotonically and takes the value of ε2 or greater than ε2, and the pressure measurement value P is greater than zero and less than P3; that is: b 空气 b1 < b2 < b3; ε3 < ε2 < ε 空气 < ε1; P 空气 = P1 = P2 = 0 < P3.

[0041] Insulating material model sand: Under the conditions of pure sand, clear water, low sediment concentration, and medium sediment concentration, the conductivity value b increases monotonically and takes the value of b2 or greater than b2, the dielectric constant ε decreases monotonically and takes the value of ε2 or less than ε2, and the pressure measurement value P is greater than zero and less than P3; that is: b 空气 < b3 < b2 < b1; ε 空气 < ε3 < ε2 < ε1; P 空气 = P1 = P2 = 0 < P3; And under the condition of high sediment concentration, the conductivity value b changes non-monotonically and takes the value of b2 or greater than b2 and less than b3, the dielectric constant ε changes non-monotonically and takes the value of ε3 or greater than ε1 and greater than ε2, and the pressure measurement value P is greater than zero and less than P3, that is: b 空气 < b2 < b3 < b1; ε 空气 < ε2 < ε3 < ε1; P 空气 = P1 = P2 = 0 < P3.

[0042] And the above non-monotonic change means that from water to the water-sediment interface, from top to bottom, the conductivity may first increase and then decrease, or first decrease and then increase, without an obvious trend.

[0043] Furthermore, in the above embodiments, the trigger modes determined in step S03 include: Under the condition of non-insulating material model sand with pure sand quality, the pressure trigger mode is triggered instantly when the threshold P3 is reached. The conductivity trigger mode is incrementally triggered and triggered instantly when the threshold б2 is reached. The dielectric constant trigger mode is decrementally triggered and triggered instantly when the threshold ε2 is reached. Specifically, the trigger priority of this embodiment from high to low is: pressure, dielectric constant, conductivity. The pressure trigger mode is incrementally triggered. Before triggering, the pressure value is zero or less than the trigger threshold. When the pressure value reaches the threshold P3 instantaneously, the water-sand interface judgment device based on electrical principles is triggered, and a step trigger message is sent. After receiving the signal, the robotic arm 13 immediately stops descending and records the descending value. The first priority trigger of the pressure value is to protect the device and prevent the robotic arm 13 from continuing to descend and damaging the water-sand interface judgment device based on electrical principles or the water-sand interface terrain. The conductivity trigger mode is incrementally triggered. The initial conductivity value is less than б2. When the conductivity value reaches the threshold б2 instantaneously, the water-sand interface judgment device based on electrical principles is triggered, and a step trigger message is sent. After receiving the signal, the robotic arm 13 immediately stops descending and records the descending value. The dielectric constant trigger mode is decrementally triggered. After the probe 2 enters the liquid from the air, the dielectric constant first increases and then decreases after continuing to descend. When the decreased value reaches the threshold ε2, the water-sand interface judgment device based on electrical principles is triggered, and a step trigger message is sent. After receiving the signal, the robotic arm 13 immediately stops descending and records the descending value.

[0044] Under the conditions of insulating material model sand with pure sand quality, clear water, low sediment concentration, and medium sediment concentration, the pressure trigger mode is triggered instantly when the threshold P3 is reached. The dielectric constant trigger mode is decrementally triggered and triggered instantly when the threshold ε2 is reached. The conductivity trigger mode is decrementally triggered and triggered instantly when the threshold б2 is reached. Specifically, the trigger priority of this embodiment from high to low is: pressure, dielectric constant, conductivity. The pressure trigger mode is incrementally triggered (incremental trigger, the measured value can only be triggered when it reaches the threshold from small to large. If it reaches the threshold from large to small, it is not triggered). Before triggering, the pressure value is zero or less than the trigger threshold. When the pressure value reaches the threshold P3 instantaneously, the water-sand interface judgment device based on electrical principles is triggered, and a step trigger message is sent. After receiving the signal, the robotic arm 13 immediately stops descending and records the descending value. The dielectric constant trigger mode is decrementally triggered (decremental trigger, the measured value can only be triggered when it reaches the threshold from large to small. If it reaches the threshold from small to large, it is not triggered). After the probe 2 enters the liquid from the air, the dielectric constant first increases and then decreases after continuing to descend. When the decreased value reaches the threshold ε2, the water-sand interface judgment device based on electrical principles is triggered, and a step trigger message is sent. After receiving the signal, the robotic arm 13 immediately stops descending and records the descending value. The conductivity trigger mode is decrementally triggered. After the probe 2 enters the liquid from the air, the conductivity first increases and then decreases after continuing to descend. When it decreases to the threshold б2, the water-sand interface judgment device based on electrical principles is triggered, and a step trigger message is sent. After receiving the signal, the robotic arm 13 immediately stops descending and records the descending value.

[0045] Under the condition of insulating material model sand and high sediment concentration, the pressure trigger mode is triggered instantaneously when the threshold P3 is reached. The conductivity trigger mode is a decremental trigger and is triggered instantaneously when the threshold б2 is reached. The dielectric constant trigger mode is a decremental trigger and is triggered instantaneously when the threshold ε2 is reached. The trigger priority from high to low is: pressure, conductivity, dielectric constant. The pressure trigger mode is an incremental trigger. Before triggering, the pressure value is zero or less than the trigger threshold. When the pressure value reaches the threshold P3 instantaneously, the water-sediment interface judgment device based on electrical principles is triggered and a step trigger message is sent. After receiving the signal, the robotic arm 13 immediately stops descending and records the descending value; the conductivity trigger mode is a decremental trigger. After the probe 2 enters the liquid from the air, the conductivity first increases, and then decreases after continuing to descend. When it decreases to the threshold б2, the water-sediment interface judgment device based on electrical principles is triggered and a step trigger message is sent. After receiving the signal, the robotic arm 13 immediately stops descending and records the descending value; the dielectric constant trigger mode is a decremental trigger. After the probe 2 enters the liquid from the air, the dielectric constant first increases, and then decreases after continuing to descend. When the decreased value reaches the threshold ε2, the water-sediment interface judgment device based on electrical principles is triggered and a step trigger message is sent. After receiving the signal, the robotic arm 13 immediately stops descending and records the descending value.

[0046] Furthermore, in step S04, the subsequent acquired measurement value set is monitored to assist the robotic arm 13 in driving the detection action of the diving part 11 to be completed, including: When the conductivity value is б 空气 the probe 2 has not entered the water body; When the conductivity value is б1, it descends and runs at a normal speed; When the conductivity value is greater than б1 and less than the threshold б2, it descends and runs at a slow speed; When the conductivity value reaches the threshold б2, the distance of the robotic arm 13 at the instant when it reaches the threshold value is used as the interface position, and it stops descending with the maximum acceleration.

[0047] Specifically, under the condition of non-insulating material model sand and pure sand quality working conditions, and under the conditions including insulating materials and non-insulating materials, the conductivity is used as the boundary of the speed mark change. When the conductivity value is б 空气 at this time, the probe 2 has not entered the water body, and it descends and runs quickly. After entering the water body, the conductivity value is б1, and it descends and runs at a normal speed. When the conductivity value is close to the threshold б2, it descends and runs at a slow speed. When the conductivity value reaches the threshold б2, the distance of the robotic arm 13 at the instant when it reaches the threshold value is used as the interface position, and it stops descending with the maximum acceleration to prevent the robotic arm 13 from having too long a braking distance and causing overcharging to damage the water-sediment interface topography.

[0048] The above are only the preferred embodiments of the present invention, and do not impose any form of limitation on the present invention. Although the present invention has been disclosed above with the preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some changes or modifications to equivalent embodiments by using the disclosed technical content within the scope of the technical solution of the present invention. However, as long as it does not depart from the technical content of the technical solution of the present invention, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A water-sediment interface judgment device based on electrical principles, characterized in that Comprising an external floating body housing (1), the external floating body housing (1) includes a diving part (11) and an external part (12), wherein: A probe (2) and a micro pressure sensor (3) are fixedly installed at the bottom of the diving part (11); An electrical measurement module (4) is fixedly installed in the diving part (11), and the detection end of the electrical measurement module (4) is the probe (2); The external part (12) is fixedly installed with a circuit board, and a processor module and a communication interface are integrated on the circuit board. The electrical signals collected by the micro pressure sensor (3) and the electrical measurement module (4) are both transmitted to the processor module, and the processor module converts the electrical signals into digital signals and transmits them to the terminal through the communication interface; It further includes a robotic arm (13) assembled at the bottom of the external part (12) and used to drive the diving part (11) to dive.

2. The water-sediment interface judging device based on electrical principles according to claim 1, characterized in that The communication interface includes being directly connected to the terminal through a data cable or connected to a network transmission module or a wireless transmission module for data connection with the terminal.

3. The water-sediment interface judging device based on electrical principles according to claim 1, wherein The installation direction of the probe (2) includes but is not limited to vertically perpendicular, inclined downward at any angle, horizontal, and inclined upward at any angle.

4. The water-sediment interface judgment device based on the electrical principle according to claim 1, characterized in that, The probe (2) is composed of two steel needles distributed in parallel, and the distance between the two steel needles is 8 mm, the length is 20 mm, and the diameter is 1 mm.

5. A judgment method, applied to the water-sediment interface judgment device based on electrical principles described in any one of claims 1-4, characterized in that, The method includes the following steps: S01. Collect data at a predetermined period and generate a measurement value set, the measurement value set includes a conductivity value б, a dielectric constant ε, and a pressure measurement value P, wherein: The conductivity value б and the dielectric constant ε are obtained by the electrical measurement module (4), and the pressure measurement value P is obtained by the micro pressure sensor (3); S02. Based on the measurement value set, judge the working condition of the water-sediment interface judging device, the working condition includes in air and not touching the liquid, in the liquid and not touching the water-sediment interface, and touching the water-sediment interface. Among them, touching the water-sediment interface includes conditions of low sediment concentration, medium sediment concentration, and high sediment concentration; S03. According to the determined working condition, select a uniquely matching model from a model library including non-insulating material model sand and insulating material model sand to determine the triggering mode. Among them, non-insulating material model sand is applicable to conditions of pure sand, clear water, low sediment concentration, medium sediment concentration, and high sediment concentration, and insulating material model sand is applicable to conditions of pure sand, clear water, low sediment concentration, medium sediment concentration, and high sediment concentration under specific conditions; S04. Based on the triggering mode, monitor the subsequent obtained measurement value set to assist the robotic arm (13) to drive the diving part (11) to complete the detection action; S05. Record and upload the process of the detection action, and the upload includes the running direction and execution speed of the robotic arm (13), the running distance, and the elapsed time.

6. The determination method according to claim 5, wherein The basis for judging the working condition in step S02 includes: Air and not touching the liquid: V 空气 (б 空气 , ε 空气 , P 空气 ); In the liquid and not touching the water-sand interface: V 清水 ([б1, ε1, P1], [б2, ε2, P2], [б3, ε3, P3]); Touching the water-sediment interface: Low content with a small amount of conditions, V 低含沙量 ([б1, ε1, P1], [б2, ε2, P2], [б3, ε3, P3]); Sediment concentration condition, V 中等含沙量 ([σ1, ε1, P1], [σ2, ε2, P2], [σ3, ε3, P3]); High sediment concentration condition, V 高含沙量 ([σ1, ε1, P1], [σ2, ε2, P2], [σ3, ε3, P3]); Among them, the array elements [б1, ε1, P1] in V in the above formula are the measured values in the liquid, [б2, ε2, P2] are the measured values when touching the water-sediment interface, and [б3, ε3, P3] are the measured values when fully inserted into the sand medium.

7. The determination method according to claim 5, characterized in that The judgment basis for selecting the matching model in the step S03 includes: Non-insulating material model sand: the conductivity value б is monotonically increasing and takes the value of б2 or less than б2, the dielectric constant ε changes non-monotonically and takes the value of ε2 or greater than ε2, and the pressure measurement value P is greater than zero and less than P3; Insulating material model sand: under the conditions of pure sand, clear water, low sediment concentration, and medium sediment concentration, the conductivity value б is monotonically increasing and takes the value of б2 or greater than б2, the dielectric constant ε is monotonically decreasing and takes the value of ε2 or less than ε2, and the pressure measurement value P is greater than zero and less than P3; while under the condition of high sediment concentration, the conductivity value б changes non-monotonically and takes the value of б2 or greater than б2 and less than б3, the dielectric constant ε changes non-monotonically and takes the value of ε3 or greater than ε1 and greater than ε2, and the pressure measurement value P is greater than zero and less than P3.

8. The determination method according to claim 5, wherein The trigger modes determined in the step S03 include: For non-insulating material model sand and under the condition of pure sand, the pressure trigger mode is triggered instantaneously when reaching the threshold P3, the conductivity trigger mode is incrementally triggered and triggered instantaneously when reaching the threshold б2, and the dielectric constant trigger mode is decrementally triggered and triggered instantaneously when reaching the threshold ε2; For insulating material model sand and under the conditions of pure sand, clear water, low sediment concentration, and medium sediment concentration, the pressure trigger mode is triggered instantaneously when reaching the threshold P3, the dielectric constant trigger mode is decrementally triggered and triggered instantaneously when reaching the threshold ε2, and the conductivity trigger mode is decrementally triggered and triggered instantaneously when reaching the threshold б2; For insulating material model sand and under the condition of high sediment concentration, the pressure trigger mode is triggered instantaneously when reaching the threshold P3, the conductivity trigger mode is decrementally triggered and triggered instantaneously when reaching the threshold б2, and the dielectric constant trigger mode is decrementally triggered and triggered instantaneously when reaching the threshold ε2.

9. The determination method according to claim 5, characterized in that The monitoring of the subsequently obtained measurement value set in the step S04 to assist the manipulator (13) to drive the detection action of the diving part (11) to complete includes: The conductivity value is б 空气 When, the probe (2) does not enter the water body; When the conductivity value is б1, it descends at a normal speed; When the conductivity value is greater than б1 and less than the threshold б2, it descends at a slow speed; When the conductivity value reaches the threshold б2, the manipulator (13) takes the instantaneous distance at the threshold value as the interface position and stops descending with the maximum acceleration.

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