A water-sand interface judgment device and method based on electrical principles

Abstract

The present invention is a device and method for judging the water-sand interface based on electrical principles, which relates to the field of computer processing technology. The device includes an external floating shell, which includes a diving part and an external part, wherein: a probe and a micro pressure sensor are fixedly installed on 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 a probe; a circuit board is fixedly installed on 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 all 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; the invention realizes accurate judgment of the water-sand interface by collecting and analyzing parameters such as conductivity value, dielectric constant and pressure measurement value, and controls the robotic arm to perform precise detection actions.

Description

Technical Field

[0001] The present invention relates to the field of computer processing technology, and in particular to a water-sand interface judgment device and method based on electrical principles. Background Art

[0002] Determining the water-sand interface is a key step in measuring underwater topography using hydraulic models. The accuracy of the determination and the recording method after determination are directly related to the accuracy and efficiency of topographic measurement.

[0003] There are currently two ways to determine the underwater water-sand interface:

[0004] The photoelectric type is suitable for scenes with low sand content, but cannot work in scenes with medium or high sand content. In the existing technology application, refer to the Chinese patent publication number CN113899426A, which discloses a water-sand interface judgment module and an underwater topography measurement device for an estuary and coastal physical model.

[0005] The resistive type is suitable for measuring insulating model sand with pure sand quality, clear water, low sand content, and medium sand content. In the existing technology application, refer to the Chinese patent publication number CN111664887A, which discloses an in-situ observation method for the dynamic changes of the seabed floating mud layer based on the resistivity probe.

[0006] The two referenced patents above serve to illustrate the application of existing technologies and are not technically related to the technical issues of this application. However, in actual applications of resistive sensors, due to the limitations of the resistance-increment threshold trigger mode, the resistance value does not increase monotonically in water bodies with high sand content, non-insulating model sand, or composite sand, resulting in misjudgments with a high frequency. Summary of the Invention

[0007] In response to the above technical problems, the technical solution adopted by the present invention is a water-sand interface determination device based on electrical principles, comprising an external floating body shell, wherein the external floating body shell comprises a submersible portion and an external portion, wherein:

[0008] A probe and a micro pressure sensor are fixedly installed on the bottom of the diving part;

[0009] An electrical measurement module is fixedly installed in the diving part, and the detection end of the electrical measurement module is a probe;

[0010] The external part is fixedly mounted with a circuit board, and the circuit board is integrated with a processor module and a communication interface. The electrical signals collected by the micro pressure sensor and the electrical measurement module are 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.

[0011] It also includes a mechanical arm which is assembled on the bottom of the external part and drives the submersible part to explore downward.

[0012] Preferably, the communication interface includes a data connection with the terminal directly connected to the terminal through a data line or connected to a network transmission module or a wireless transmission module.

[0013] Preferably, the installation direction of the probe includes but is not limited to vertical, tilted downward at any angle, horizontal, and tilted upward at any angle.

[0014] Preferably, the probe is composed of two parallel distributed steel needles, and the distance between the two steel needles is 8 mm, the length is 20 mm, and the diameter is 1 mm.

[0015] A judgment method is applied to the water-sand interface judgment device based on electrical principles described in the above solution, and the method comprises the following steps:

[0016] S01. Collect data according to a predetermined period and generate a set of measurement values, wherein the set of measurement values ​​includes conductivity value б, dielectric constant ε, and pressure measurement value P, wherein:

[0017] 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;

[0018] S02. Determine an operating condition of the water-sand interface determination device based on the set of measurement values, where the operating conditions include: in air and not in contact with liquid; in liquid and not in contact with the water-sand interface; and in contact with the water-sand interface. The contact with the water-sand interface further includes conditions of low sediment concentration, medium sediment concentration, and high sediment concentration.

[0019] S03. Based on the determined working conditions, a unique matching model is selected from a model library including non-insulating material model sand and insulating material model sand to determine a trigger mode. The non-insulating material model sand is suitable for conditions of pure sand, clear water, low sand content, medium sand content, and high sand content. The insulating material model sand is suitable for conditions of pure sand, clear water, low sand content, medium sand content, and high sand content under preset conditions.

[0020] S04. Based on the trigger mode, monitoring the set of measurement values ​​subsequently obtained to assist the robotic arm in driving the submersible part to complete the detection action;

[0021] S05. Record the process of the detection action and upload it, where the uploaded data includes the running direction and execution speed of the robot arm, the running distance and the time taken.

[0022] Preferably, the basis for determining the working condition in step S02 includes:

[0023] Air and no contact with liquid: V 空气 (б 空气 , ε 空气 、P 空气 );

[0024] In liquid and not touching the water-sand interface: V 清水 ([б1, ε1, P1], [б2, ε2, P2], [б3, ε3, P3]);

[0025] Contact water-sand interface:

[0026] Low sand content conditions, V 低含沙量 ([б1, ε1, P1], [б2, ε2, P2], [б3, ε3, P3]);

[0027] Medium sand content condition, V 中等含沙量 ([б1, ε1, P1], [б2, ε2, P2], [б3, ε3, P3]);

[0028] Under high sand content conditions, V 高含沙量 ([б1, ε1, P1], [б2, ε2, P2], [б3, ε3, P3]);

[0029] 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-sand interface, and [б3, ε3, P3] are the measured values ​​when completely inserted into the sand medium.

[0030] As preferred, including:

[0031] Non-insulating material model sand: the conductivity value б increases monotonically and is б2 or less than б2, the dielectric constant ε changes non-monotonically and is ε2 or greater than ε2, and the pressure measurement value P is greater than zero and less than P3;

[0032] Insulating material model sand: Under the conditions of pure sand, clear water, low sand content, and medium sand content, the conductivity value б increases monotonically and is б2 or greater than б2, the dielectric constant ε decreases monotonically and is ε2 or less than ε2, and the pressure measurement value P is greater than zero and less than P3; while under high sand content conditions, the conductivity value б changes non-monotonically and is б2 or greater than б2 and less than б3, the dielectric constant ε changes non-monotonically and is ε3 or greater than ε1 and greater than ε2, and the pressure measurement value P is greater than zero and less than P3.

[0033] Preferably, the trigger mode determined in step S03 includes:

[0034] In the case of non-insulating material model sand and pure sand, the pressure trigger mode is triggered instantly when the threshold value P3 is reached, the conductivity trigger mode is incremental trigger and triggered instantly when the threshold value б2 is reached, and the dielectric constant trigger mode is decremental trigger and triggered instantly when the threshold value ε2 is reached;

[0035] Under the conditions of insulating material model sand with pure sand quality, clear water, low sand content and medium sand content, the pressure trigger mode is triggered instantly when the threshold value P3 is reached, the dielectric constant trigger mode is triggered instantly when the threshold value ε2 is reached, and the conductivity trigger mode is triggered instantly when the threshold value б2 is reached;

[0036] Under the condition of insulating material model sand and high sand content, the pressure trigger mode is triggered instantly when the threshold value P3 is reached, the conductivity trigger mode is triggered instantly when the threshold value б2 is reached, and the dielectric constant trigger mode is triggered instantly when the threshold value ε2 is reached.

[0037] Preferably, the monitoring of the subsequently acquired measurement value set in step S04 to assist the robotic arm in driving the submersible part to complete the detection action includes:

[0038] The conductivity value is б 空气 When , the probe does not enter the water body;

[0039] When the conductivity value is б1, the device runs downward at a normal speed;

[0040] When the conductivity value is greater than б1 and less than the threshold value б2, the operation is carried out at a slow downward speed;

[0041] When the conductivity value reaches the threshold value б2, the instantaneous distance at which the robotic arm reaches the threshold value is taken as the interface position, and the robotic arm stops exploring at the maximum acceleration.

[0042] This invention has at least the following beneficial effects: After the device is activated and collects data at a predetermined interval, if the measured values ​​indicate that the device is submerged in liquid and not touching the water-sand interface, a non-insulating material model is selected as the matching model. As the probe progresses, when the conductivity value approaches the trigger threshold, the robotic arm slowly descends; when the threshold is reached, the robotic arm immediately stops descending and records its position. By recording and uploading this detection process information, the location of the water-sand interface and its sediment content can be accurately determined. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0044] Figure 1 A schematic structural diagram of a water-sand interface determination device based on electrical principles provided in the first embodiment of the present invention;

[0045] Figure 2 Provides a module schematic diagram for embodiment 1 of the present invention;

[0046] Figure 3 This is a flowchart provided for the second embodiment of the present invention.

[0047] Description of reference numerals:

[0048] 1. External floating shell; 11. Diving part; 12. External part; 13. Robotic arm; 2. Probe. DETAILED DESCRIPTION

[0049] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making any creative efforts shall fall within the scope of protection of the present invention.

[0050] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way are interchangeable where appropriate 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 "including" and "having" and any variations are intended to cover non-exclusive inclusions. For example, a process, method, system, product or server that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0051] Example 1:

[0052] This embodiment provides a water-sand interface determination device based on electrical principles, such as Figure 1 and Figure 2 As shown, it includes an external floating shell 1, which includes a diving part 11 and an external part 12, wherein:

[0053] The bottom of the diving part 11 is fixedly mounted with a probe 2 and a micro pressure sensor;

[0054] An electrical measurement module is fixedly installed in the diving part 11, and the detection end of the electrical measurement module is a probe 2;

[0055] The external part 12 is fixedly mounted with a circuit board, and the circuit board is integrated with a processor module and a communication interface. The electrical signals collected by the micro pressure sensor and the electrical measurement module are transmitted to the processor module, which converts the electrical signals into digital signals and transmits them to the terminal through the communication interface.

[0056] The submersible part 11 further includes a mechanical arm 13 which is mounted on the bottom of the external part 12 and drives the submersible part 11 to dive downward.

[0057] Furthermore, the communication interface in this embodiment includes a data connection to the terminal directly connected via a data cable or connected to a network transmission module or a wireless transmission module. Furthermore, the computer is connected to the processor module via the communication interface, and the trigger thresholds of the conductivity, dielectric constant, and micro-pressure sensor can be set and modified.

[0058] Secondly, the installation direction of the probe 2 in this embodiment includes but is not limited to vertical, tilted downward at any angle, horizontal, and tilted upward at any angle.

[0059] Furthermore, the probe 2 in the above embodiment is composed of two parallel distributed steel needles, and the distance between the two steel needles is 8 mm, the length is 20 mm, and the diameter is 1 mm.

[0060] In the above embodiment, the steel needles are electrically connected to the electrical measurement module, and the electrical measurement module loads high-frequency alternating current on the steel needles to measure the electrical conductivity and dielectric constant of the material between the steel needles by the electrode method.

[0061] The electrical measurement module includes a high-frequency constant-voltage conductivity measurement circuit and a high-frequency Wheatstone bridge dielectric constant measurement circuit, which are connected to probe 2 to measure the conductivity and dielectric constant of the medium between probes 2. This belongs to the prior art and will not be described in detail.

[0062] The micro pressure sensor is a small-range one-dimensional pressure load sensor, which is fixed on the upper end of the probe 2 and measures the force data when the probe 2 touches the medium.

[0063] The processor module is connected to the electrical measurement module and micro-pressure sensor via data cables, allowing it to receive and analyze the conductivity, dielectric constant, and pressure sensor measurements. Based on logical decisions such as thresholds, trigger modes, and trigger priorities, it then outputs a step trigger signal. A step trigger signal normally outputs a low level of 0V. Upon triggering, the device emits a 5V step signal. A step signal is a special continuous-time function that jumps from 0 to 1 (or a non-zero value) and maintains this value.

[0064] Example 2:

[0065] The embodiment of the present invention provides a method for determining the water-sand interface based on electrical principles. Figure 3As shown, the following steps are included:

[0066] S01. Collect data according to a predetermined period and generate a set of measurement values, which includes conductivity value б, dielectric constant ε and pressure measurement value P, where:

[0067] The conductivity value б and dielectric constant ε are obtained by the electrical measurement module, and the pressure measurement value P is obtained by the micro pressure sensor;

[0068] S02. Determine an operating condition of the water-sand interface determination device based on the set of measurement values, where the operating conditions include: in air and not in contact with liquid; in liquid and not in contact with the water-sand interface; and in contact with the water-sand interface. The contact with the water-sand interface further includes conditions of low sediment concentration, medium sediment concentration, and high sediment concentration.

[0069] S03. Based on the determined working conditions, a unique matching model is selected from a model library including non-insulating material model sand and insulating material model sand to determine a trigger mode. The non-insulating material model sand is suitable for conditions of pure sand, clear water, low sand content, medium sand content, and high sand content. The insulating material model sand is suitable for conditions of pure sand, clear water, low sand content, medium sand content, and high sand content under preset conditions.

[0070] S04. Based on the trigger mode, monitor the subsequently acquired measurement value set to assist the robotic arm 13 in driving the diving unit 11 to complete the detection action;

[0071] S05. Record the detection process and upload it, including the running direction and execution speed of the robot arm 13, the running distance and the time taken.

[0072] Specifically, after the device in the above embodiment is started, it collects data at a predetermined interval. Each collection cycle generates a measurement set consisting of conductivity values ​​b, dielectric constant ε, and pressure measurements P. Conductivity values ​​b and dielectric constant ε are acquired by the electrical measurement module, while pressure measurements P are acquired by the micro-pressure sensor. Based on this collection of measurement sets, the device's current operating condition is determined. There are three operating conditions: in air and not in contact with liquid; in liquid and not in contact with the water-sand interface; and in contact with the water-sand interface (including conditions with low, medium, and high sediment concentrations).

[0073] The judgment is based on the following:

[0074] When the conductivity value б and the dielectric constant ε are both close to the air value, and the pressure value P is zero or close to zero, it is judged to be in the air and not touching the liquid working condition.

[0075] 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 to be in the liquid and not touching the water-sand interface.

[0076] When the conductivity value б and the dielectric constant ε further change and the pressure value P approaches or reaches another threshold, different conditions of contact between the water and sand interface (low sediment content, medium sediment content, high sediment content) are judged according to the different sediment content.

[0077] Based on the determined operating conditions, a unique matching model is selected from a library of models for both non-insulating and insulating materials. The selection is based on the changing trends and ranges of conductivity values ​​б, dielectric constant ε, and pressure values ​​P.

[0078] Specifically, the non-insulating material model is applicable to conditions with pure sand, clear water, low sand content, medium sand content, and high sand content. The insulating material model is applicable to conditions with pure sand, clear water, low sand content, medium sand content, and high sand content under preset conditions.

[0079] Based on the selected model, the trigger mode is determined. 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 signal. Upon receiving the signal, the robotic arm 13 immediately stops probing and records the probing value. During the detection process, the set of measured values ​​is continuously monitored. The probing speed of the robotic arm 13 is adjusted according to the changes in the conductivity value б. When the conductivity value approaches the trigger threshold, the probing is carried out at a slow speed; when the trigger threshold is reached, the robotic arm 13 immediately stops probing and records the position. Information such as the running direction and execution speed of the robotic arm 13, the running distance, and the duration of the detection action are recorded and uploaded for subsequent analysis and processing.

[0080] Furthermore, the basis for determining the working condition in step S02 in the above embodiment includes:

[0081] Air and no contact with liquid: V 空气 (б 空气 , ε 空气 、P 空气 );

[0082] In liquid and not touching the water-sand interface: V 清水 ([б1, ε1, P1], [б2, ε2, P2], [б3, ε3, P3]);

[0083] Contact water-sand interface:

[0084] Low sand content conditions, V 低含沙量 ([б1, ε1, P1], [б2, ε2, P2], [б3, ε3, P3]);

[0085] Medium sand content condition, V 中等含沙量 ([б1, ε1, P1], [б2, ε2, P2], [б3, ε3, P3]);

[0086] Under high sand content conditions, V 高含沙量 ([б1, ε1, P1], [б2, ε2, P2], [б3, ε3, P3]);

[0087] 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-sand interface, and [б3, ε3, P3] are the measured values ​​when completely inserted into the sand medium.

[0088] In the above embodiment, the current operating stage of the device is determined by detecting the difference in the collected conductivity value б, dielectric constant ε and pressure value P and triggering the default value.

[0089] Secondly, the basis for determining the matching model in step S03 of the above embodiment includes:

[0090] Non-insulating material model sand: the conductivity value б increases monotonically and is б2 or less than б2, the dielectric constant ε changes non-monotonically and is ε2 or greater than ε2, and the pressure measurement value P is greater than zero and less than P3; that is:

[0091] б 空气 <б1<б2<б3;

[0092] ε3<ε2<ε 空气 <ε1;

[0093] P 空气 =P1=P2=0<P3.

[0094] Insulating material model sand: Under the conditions of pure sand, clear water, low sand content, and medium sand content, the conductivity value б increases monotonically and is б2 or greater than б2, the dielectric constant ε decreases monotonically and is ε2 or less than ε2, and the pressure measurement value P is greater than zero and less than P3; that is:

[0095] б 空气 <б3<б2<б1;

[0096] ε 空气 <ε3<ε2<ε1;

[0097] P 空气 =P1=P2=0<P3;

[0098] Under high sediment concentration conditions, the conductivity value б changes non-monotonically and takes the value б2 or is greater than б2 and less than б3. The dielectric constant ε changes non-monotonically and takes the value ε3 or is greater than ε1 and greater than ε2. The pressure measurement value P is greater than zero and less than P3, that is:

[0099] б 空气 <б2<б3<б1;

[0100] ε 空气 <ε2<ε3<ε1;

[0101] P 空气 =P1=P2=0<P3.

[0102] The above-mentioned non-monotonic change means that from the water to the water-sand boundary, from top to bottom, the conductivity may first increase and then decrease, or first decrease and then increase, with no obvious trend.

[0103] Furthermore, in the above embodiment, the trigger mode determined in step S03 includes:

[0104] Under the working conditions of non-insulating material model sand and pure sand, the pressure trigger mode is triggered instantly when it reaches the threshold value P3, the conductivity trigger mode is incremental trigger and triggered instantly when it reaches the threshold value б2, and the dielectric constant trigger mode is decremental trigger and triggered instantly when it reaches the threshold value ε2; specifically, the trigger priority of this embodiment is from high to low: pressure, dielectric constant, conductivity, the pressure trigger mode is incremental trigger, the pressure value before triggering is zero or less than the trigger threshold, the pressure value reaches the threshold value P3, the water-sand interface judgment device based on the electrical principle is triggered, and a step trigger information is issued. After receiving the signal, the robot arm 13 immediately stops exploring and records the exploration value. The first priority trigger of the pressure value is to protect the device to prevent The robotic arm 13 continues to probe downward and damages the water-sand interface judgment device based on electrical principles or the water-sand interface topography; the conductivity trigger mode is an incremental trigger, the initial conductivity value is less than б2, and the moment the conductivity value reaches the threshold б2, the water-sand interface judgment device based on electrical principles is triggered, and a step trigger information is issued. After receiving the signal, the robotic arm 13 immediately stops probing and records the probing 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 probe downward, and the reduction value threshold ε2 is triggered. The water-sand interface judgment device based on electrical principles is triggered, and a step trigger information is issued. After receiving the signal, the robotic arm 13 immediately stops probing and records the probing value.

[0105] Under the conditions of insulating material model sand, pure sand, clear water, low sand content and medium sand content, the pressure trigger mode is triggered instantly when the threshold value P3 is reached, the dielectric constant trigger mode is a decremental trigger and triggered instantly when the threshold value ε2 is reached, and the conductivity trigger mode is a decremental trigger and triggered instantly when the threshold value б2 is reached; specifically, the trigger priority of this embodiment is from high to low: pressure, dielectric constant, and conductivity, the pressure trigger mode is an incremental trigger (incremental trigger, the measured value can only be triggered if it reaches the threshold from small to large, and it will not be triggered if it reaches the threshold from large to small), the pressure value before triggering is zero or less than the trigger threshold, and the moment the pressure value reaches the threshold value P3, the water-sand interface judgment device based on the electrical principle is triggered, and a step trigger information is issued. The robotic arm 13 stops exploring immediately after receiving the signal. And record the probe value; the dielectric constant trigger mode is a decremental trigger (decremental trigger, the measured value can only be triggered if it reaches the threshold from large to small. If it reaches the threshold from small to large, it will not be triggered). After the probe 2 enters the liquid from the air, the dielectric constant first increases, and then decreases after continuing to probe, and the value is reduced to the threshold ε2. The water-sand interface judgment device based on the electrical principle is triggered, and a step trigger information is issued. After receiving the signal, the robot arm 13 immediately stops probing and records the probe 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 probe, and decreases to the threshold б2. The water-sand interface judgment device based on the electrical principle is triggered, and a step trigger information is issued. After receiving the signal, the robot arm 13 immediately stops probing and records the probe value.

[0106] Under the condition of insulating material model sand and high sand content, the pressure trigger mode is triggered instantly when the threshold value P3 is reached, the conductivity trigger mode is triggered instantly when the threshold value б2 is reached, and the dielectric constant trigger mode is triggered instantly when the threshold value ε2 is reached. The trigger priority is from high to low: pressure, conductivity, and dielectric constant. The pressure trigger mode is incremental triggering. The pressure value before triggering is zero or less than the trigger threshold. The moment the pressure value reaches the threshold P3, the water-sand interface judgment device based on the electrical principle is triggered and sends a step trigger information. After receiving the signal, the robot arm 13 immediately stops probing and records the probing value; the conductivity trigger mode is decremental triggering. After the probe 2 enters the liquid from the air, the conductivity increases first, then decreases after continuing to probe and drops to the threshold б2. The water-sand interface judgment device based on the electrical principle is triggered and sends a step trigger information. After receiving the signal, the robot arm 13 immediately stops probing and records the probing value; the dielectric constant trigger mode is decremental triggering. After the probe 2 enters the liquid from the air, the dielectric constant increases first, then decreases after continuing to probe and drops to the threshold ε2. The water-sand interface judgment device based on the electrical principle is triggered and sends a step trigger information. After receiving the signal, the robot arm 13 immediately stops probing and records the probing value.

[0107] Furthermore, in step S04, the subsequently acquired measurement value set is monitored to assist the robotic arm 13 in driving the submersible part 11 to complete the detection action, including:

[0108] The conductivity value is б 空气 When , probe 2 does not enter the water body;

[0109] When the conductivity value is б1, it runs downward at normal speed;

[0110] When the conductivity value is greater than б1 and less than the threshold value б2, it runs at a slow downward speed;

[0111] When the conductivity value reaches the threshold value б2, the robot arm 13 takes the instantaneous distance at which it reaches the threshold value as the interface position and stops exploring at the maximum acceleration.

[0112] Specifically, in the non-insulating material model sand and pure sand working conditions, including insulating material and non-insulating material working conditions, conductivity is used as the velocity mark change boundary. When the conductivity value is б 空气 When the probe 2 has not entered the water body, it moves downward at a fast speed. After entering the water body, the conductivity value is б1, and it moves downward at a normal speed. When the conductivity value approaches the threshold value б2, it moves downward at a slow speed. When the conductivity value reaches the threshold value б2, the robotic arm 13 takes the instantaneous distance at which it reaches the threshold value as the interface position, and stops moving downward at the maximum acceleration to prevent the robotic arm 13 from braking too long, causing overcharging and damaging the water-sand interface terrain.

[0113] The above description is merely a preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Although the present invention has been disclosed as a preferred embodiment as above, it is not intended to limit the present invention. Any technician familiar with the present profession can make some changes or modifications to equivalent embodiments of the technical contents disclosed above without departing from the scope of the technical solution of the present invention. However, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A method for determining the water-sand interface based on electrical principles, characterized in that: The method comprises the following steps: S01. Collect data according to a predetermined period and generate a measurement value set V. The measurement value set includes conductivity value б, dielectric constant ε, and pressure measurement value P, where: The conductivity value б and dielectric constant ε are obtained by the electrical measurement module, and the pressure measurement value P is obtained by the micro pressure sensor; S02. Determine an operating condition of the water-sand interface determination device based on the set of measurement values, where the operating conditions include: in air and not in contact with liquid; in liquid and not in contact with the water-sand interface; and in contact with the water-sand interface. The contact with the water-sand interface further includes conditions of low sediment concentration, medium sediment concentration, and high sediment concentration. S03. Based on the determined working conditions, a unique matching model is selected from a model library including non-insulating material model sand and insulating material model sand to determine a trigger mode. The non-insulating material model sand is suitable for conditions of pure sand, clear water, low sand content, medium sand content, and high sand content. The insulating material model sand is suitable for conditions of pure sand, clear water, low sand content, medium sand content, and high sand content under preset conditions. S04, based on the trigger mode, monitoring the set of measurement values ​​subsequently obtained to assist the robotic arm (13) in driving the diving unit (11) to complete the detection action; S05, recording the running direction, execution speed, running distance and time duration of the robot arm (13) during the detection action, and uploading them; The basis for determining the working condition in step S02 includes: Air and no contact with liquid: V 空气 (б 空气 , ε 空气 、P 空气 ); In liquid and not touching the water-sand interface: V 清水 ([б1, ε1, P1], [б2, ε2, P2], [б3, ε3, P3]); Contact water-sand interface: Low sand content conditions, V 低含沙量 ([б1, ε1, P1], [б2, ε2, P2], [б3, ε3, P3]); Medium sand content condition, V 中等含沙量 ([б1, ε1, P1], [б2, ε2, P2], [б3, ε3, P3]); Under high sand content conditions, V 高含沙量 ([б1, ε1, P1], [б2, ε2, P2], [б3, 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 contacting the water-sand interface, and [б3, ε3, P3] are the measured values ​​when completely inserted into the sand medium; The basis for determining the unique matching model in step S03 includes: Non-insulating material model sand: the conductivity value б increases monotonically and is б2 or less than б2, the dielectric constant ε changes non-monotonically and is ε2 or greater than ε2, and the pressure measurement value P is greater than zero and less than P3; Insulating material model sand: Under conditions of pure sand, clear water, low sand content, and medium sand content, the conductivity value б increases monotonically and is б2 or greater than б2, the dielectric constant ε decreases monotonically and is ε2 or less than ε2, and the pressure measurement value P is greater than zero and less than P3. Under conditions of high sand content, the conductivity value б changes non-monotonically and is б2 or greater than б2 and less than б3, the dielectric constant ε changes non-monotonically and is ε3 or greater than ε1 and greater than ε2, and the pressure measurement value P is greater than zero and less than P3. The step S04 of monitoring the subsequently acquired set of measurement values ​​to assist the robotic arm (13) in driving the diving part (11) to complete the detection action includes: The conductivity value is б 空气 When , the probe (2) does not enter the water body; When the conductivity value is б1, the device runs downward at a normal speed; When the conductivity value is greater than б1 and less than the threshold value б2, the operation is carried out at a slow downward speed; When the conductivity value reaches the threshold value б2, the instantaneous distance at which the robotic arm (13) reaches the threshold value is taken as the interface position, and the robotic arm (13) stops probing at the maximum acceleration.

2. The method for determining the water-sand interface based on electrical principles according to claim 1, characterized in that: The trigger modes determined in step S03 include: In the case of non-insulating material model sand and pure sand, the pressure trigger mode is triggered instantly when the threshold value P3 is reached, the conductivity trigger mode is incremental trigger and triggered instantly when the threshold value б2 is reached, and the dielectric constant trigger mode is decremental trigger and triggered instantly when the threshold value ε2 is reached; Under the conditions of insulating material model sand with pure sand quality, clear water, low sand content and medium sand content, the pressure trigger mode is triggered instantly when the threshold value P3 is reached, the dielectric constant trigger mode is triggered instantly when the threshold value ε2 is reached, and the conductivity trigger mode is triggered instantly when the threshold value б2 is reached; Under the condition of insulating material model sand and high sand content, the pressure trigger mode is triggered instantly when the threshold value P3 is reached, the conductivity trigger mode is triggered instantly when the threshold value б2 is reached, and the dielectric constant trigger mode is triggered instantly when the threshold value ε2 is reached.

3. A water-sand interface judgment device based on electrical principles, used to implement the water-sand interface judgment method based on electrical principles as described in any one of claims 1-2 above, characterized in that: The invention comprises an external floating shell (1), wherein the external floating shell (1) comprises a submersible portion (11) and an external portion (12), wherein: A probe (2) and a micro pressure sensor are fixedly mounted on the bottom of the diving part (11); An electrical measurement module is fixedly installed in the diving part (11), and the detection end of the electrical measurement module is a probe (2); The external part (12) is fixedly mounted with a circuit board, and the circuit board is integrated with a processor module and a communication interface. The electrical signals collected by the micro pressure sensor and the electrical measurement module are 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 also includes a mechanical arm (13) that is assembled at the bottom of the external part (12) and drives the diving part (11) to explore downward.

4. The water-sand interface determination device based on electrical principles according to claim 3, characterized in that: The communication interface includes a data connection with the terminal directly connected to the terminal through a data line or connected to a network transmission module or a wireless transmission module.

5. The water-sand interface determination device based on electrical principles according to claim 3, characterized in that: The installation direction of the probe (2) includes but is not limited to vertical, tilted downward at any angle, horizontal, and tilted upward at any angle.

6. The water-sand interface determination device based on electrical principles according to claim 3, characterized in that: The probe (2) is composed of two parallel distributed steel needles, and the distance between the two steel needles is 8 mm, the length is 20 mm, and the diameter is 1 mm.

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