Underwater micro electric field detection device using rotating electrode

Abstract

The invention discloses an underwater micro electric field detection device using a rotating electrode. The underwater micro electric field detection device comprises a sensing module, a data processing and control module, a posture adjusting module, a hydraulic driving module and a mechanical module, the sensing module comprises a rotating electrode, a turbidimeter, a thermometer, an attitude sensor and a hydraulic motor digital encoder; the data processing and control module is used for communicating with a deck control unit, processing a signal of the sensing module and outputting a control signal to the hydraulic driving module; the data processing and control module comprises a hydraulic control and communication module, a microelectrode signal conditioning circuit board, a data acquisition and communication circuit board, a battery pack, a communication interface, a control interface, a deck control unit and an electromagnetic shielding metal net film; the hydraulic driving module is used for driving the rotating electrode and the posture adjusting module, and the posture adjusting module is used for adjusting and stabilizing the posture of the rotating electrode and comprises a three-axis underwater hydraulic rotating platform. The device can be installed on an underwater mobile platform and is used for micro electric field detection of underwater structures and the like.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of underwater structure detection, and provides an underwater micro-electric field detection device using a rotating electrode. BACKGROUND

[0002] With the increase of the service time of underwater structures, the anticorrosive coating on the surface of the underwater structures often suffers local damage or even peeling off. The damaged or peeled-off part of the coating forms a galvanic cell reaction in seawater, which makes the damaged and peeled-off part corrode more severely, thereby affecting the use safety of the underwater structures and the ecological environment of the water body. Therefore, it is necessary to analyze the underwater electric field distribution law under the corrosion state of the underwater structures and detect the electric field intensity of the damaged or peeled-off position of the anticorrosive coating. The prior art CN108375625A discloses a jacket corrosion detection equipment and method without magnetic field interference, which comprises a control and data real-time interaction system, a release and recovery system, a umbilical cable and a jacket corrosion detection crawling robot. The jacket corrosion detection crawling robot is used for detecting the corrosion condition of the splash zone and the underwater area of the jacket. The control and data real-time interaction system is used for real-time control of the robot, analysis and storage of the measurement data detected by the corrosion detection unit and power supply for the jacket corrosion detection crawling robot. The release and recovery system is used for deploying and recovering the robot. The prior art uses the crawling robot to adhere to the underwater structure to be detected to detect the corrosion condition. However, the pipe diameter and the surface condition of the underwater structure are mostly unable to adhere to the crawling robot. SUMMARY

[0003] In order to overcome the defects of the prior art, the purpose of the present application is to provide an underwater micro-electric field detection device using a rotating electrode for unmanned detection of the corrosion electric field around the underwater structure, to evaluate the corrosion condition of the underwater structure and to indicate the corrosion position of the underwater structure. Secondly, the detection range of the corrosion electric field of the underwater structure is expanded, and the detection efficiency and detection accuracy of the electric potential point of the underwater structure are improved. The electric field of different components can be measured, and the underwater structure different from the traditional underwater pile foundation, such as the generator transmission cable, can be measured.

[0004] Therefore, the present application provides an underwater micro-electric field detection device using a rotating electrode. As preferred, the present application comprises a 3-axis underwater hydraulic rotating holder, a rotating electrode, an underwater hydraulic rotating module motor, a turbidimeter, a thermometer, an attitude sensor, a protective frame, a pressure-resistant shell, a pressure-resistant end cover, a contact slip ring, an underwater rotating motor driver, an underwater hydraulic motor rotation encoder, a motor control and communication module, a micro-electrode signal conditioning circuit board, a hydraulic control valve island, a data acquisition and communication circuit board, a battery pack, a circuit board support, a communication interface, a control interface, a hydraulic interface.

[0005] As preferred, the driving modes of the application all adopt hydraulic driving and increase electromagnetic shielding structure. The driving modes of the rotating electrode and the three-axis underwater hydraulic rotating platform all adopt hydraulic driving, and the pressure-resistant shell, pressure-resistant end cover, water-permeable shell, protective frame, electronic warehouse support, etc. all adopt non-magnetic materials, and the micro-electrode signal conditioning circuit board, hydraulic control valve island, data acquisition and communication circuit board, battery pack, etc. all adopt electromagnetic shielding metal mesh film coating treatment to reduce the interference of electromagnetic leakage of electromagnetic elements and electronic elements on micro-electric field measurement. Among them, the electromagnetic shielding metal mesh film is composed of copper wire fibers, and the surface is sprayed with an electromagnetic shielding coating layer. Since the underwater micro-electric field has very low frequency, it can be considered as a static electric field. The electromagnetic shielding metal mesh film is mainly used to shield low-frequency electromagnetic noise below 1 Hz.

[0006] As preferred, the rotating electrode comprises Ag-AgCl, a water-permeable shell, a signal transmission slip ring, a plastic base plate, and a waterproof cable. The Ag-AgCl electrode is bonded to the plastic base plate and arranged symmetrically. The plastic base plate is installed in the water-permeable shell, and the signal transmission slip ring is connected to the electrode through the waterproof cable. The water-permeable shell is designed with a tight threaded hole, and the tight bolt contacts the output shaft through the tight threaded hole to realize friction limiting function. To realize high spatial resolution multi-directional electric field vector detection, the electrode adopts a multi-electrode pair with a small electrode distance and a water-permeable material packaging technology. At the same time, the water-permeable shell and the electrode have a spacing that can allow the first protective shell to vibrate and absorb the impact impact received by the first protective shell, avoid vibration and impact causing the sheet-shaped electrode to vibrate and surface wear, and improve the signal-to-noise ratio of the sheet-shaped electrode and the measurement stability of the rotating electrode.

[0007] As preferred, to realize three-component electric field measurement, a rotating electrode measurement mode is adopted. The position of the Ag-AgCl electrode is changed by driving the rotating motor, and different electric field components are measured at different angles to obtain underwater three-component electric field signals, which is beneficial to fully detect the electric field vector signals of each potential point, improve the accuracy of the measurement potential point, and more clearly feedback the overall situation of the underwater structure electric field.

[0008] As preferred, in order to reduce the disturbance of the attitude change of the unmanned underwater vehicle on the underwater micro electric field measurement, a three-axis underwater hydraulic rotary platform is used to adjust the attitude of the rotating electrode. The three-axis underwater hydraulic rotary platform comprises a pitch attitude rotation module, a horizontal attitude rotation module, a roll attitude rotation module and a rotary platform hydraulic interface, wherein the pitch attitude rotation module has a connection ROV frame docking interface and a horizontal attitude rotation module docking interface. The horizontal attitude rotation module has a docking interface connected to the pitch attitude rotation module and a roll attitude rotation module docking interface. The roll attitude rotation module has a docking interface connected to the horizontal attitude rotation module and a docking interface connected to the pressure hull. The rotary platform hydraulic interface is connected with the hydraulic interface to provide high-pressure oil liquid for driving the three-axis underwater hydraulic rotary platform. At the same time, the attitude signal measured by the attitude sensor is used as feedback to drive and control the three-axis underwater hydraulic rotary platform to realize the function of attitude adjustment through three-axis linkage.

[0009] As preferred, when the hydraulic rotary module drives the rotating electrode to rotate, it is necessary to ensure the stability of the attitude of the rotating electrode and reduce the influence of impact and acceleration on the micro electric field measurement. The hydraulic control and communication module controls the internal pressure fluctuation of the hydraulic motor through a fuzzy control algorithm, controls the hydraulic drive valve island actuation, thereby reducing the fluctuation of the driving pressure in the hydraulic motor, and reducing the angular acceleration and impact degree of the hydraulic rotary module.

[0010] As preferred, an underwater micro electric field detection device using a rotating electrode further comprises environmental information sensing and electric field correction. The environmental sensing sensor includes but is not limited to a thermometer and a turbidimeter. Since the underwater electric field measurement accuracy is easily affected by the temperature and turbidity of the water body, the above-mentioned sensors are used to measure the above-mentioned indexes of the potential point, and the electric field potential obtained by the detection of the potential point is corrected.

[0011] The purpose of the present application is to provide an unmanned underwater vehicle with a device for detecting the micro electric field around the underwater structure, to evaluate the corrosion condition of the underwater structure and indicate the corrosion position of the underwater structure; to expand the detection range of the corrosion electric field of the underwater structure, to improve the detection efficiency and accuracy of the potential point of the underwater structure; to measure three-component vector electric field information through the rotating electrode, and to have the following beneficial effects. Compared with the traditional operation of diving professionals, multiple measurements of multiple discrete potential points, the device can continuously measure high-density nearly continuous potential points, can greatly improve the detection efficiency and save labor cost, and the multi-mode detection can adapt to different underwater structures. The protective shell with a grid structure enables the water to enter the pores of the protective shell and contact each sensor to obtain more accurate temperature and turbidity indexes, and improve the accuracy of the electric field potential obtained by the detection of the potential point. BRIEF DESCRIPTION OF DRAWINGS

[0012] Figure 1It is an axonometric view of a micro electric field detection device using a rotating electrode under water.

[0013] Figure 2 It is a structure diagram of the rotating electrode.

[0014] Figure 3 It is an internal structure diagram of the electronic bin.

[0015] Explanation of reference signs: three-axis underwater hydraulic rotating platform 1, rotating electrode 2, hydraulic motor 3, turbidimeter 4, thermometer 5, attitude sensor 6, protection frame 7, pressure-resistant shell 8, pressure-resistant end cover 9, hydraulic motor digital encoder 10, hydraulic control and communication module 11, micro electrode signal conditioning circuit board 12, hydraulic control valve island 13, data acquisition and communication circuit board 14, battery pack 15, engineering plastic support 16, communication interface 17, control interface 18, hydraulic interface 19, hydraulic oil pipe 20, deck control unit 21, electromagnetic shielding metal mesh film 22, low-noise signal cable 34, pitch attitude rotation module 101, horizontal attitude rotation module 102, roll attitude rotation module 103, rotating platform hydraulic interface 104, ROV frame docking interface 1011, horizontal attitude rotation module docking interface 1012, docking interface 1021 connected to the pitch attitude rotation module 102, roll attitude rotation module docking interface 1022, docking interface 1031 connected to the horizontal attitude rotation module 102, docking interface 1032 connected to the pressure-resistant shell 8, control cable 1101, signal cable 1102, data communication cable 1103, Ag-AgCl electrode 201, water-permeable shell 202, signal transmission slip ring 203, plastic base plate 204, waterproof cable 205, sealing rubber ring 206, tight screw hole 2022, tight bolt 2023, output shaft 301, signal contact transmission slip ring 302, dynamic sealing device 303, hydraulic motor 305, limit shaft shoulder 3011. DETAILED DESCRIPTION

[0016] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all embodiments.

[0017] As Figure 1 , 2,3, a kind of underwater micro electric field detection device using rotating electrode, including sensing module, data processing and control module, attitude adjustment module, hydraulic drive module, mechanical module;Wherein sensing module is used to induct underwater micro electric field, turbidity, temperature, and sensing module includes rotating electrode 2, turbidimeter 4, thermometer 5, attitude sensor 6, hydraulic motor digital encoder 10;Data processing and control module are used to communicate with deck control unit 21, process the signal of sensing module and give the control signal of hydraulic drive module output, and data processing and control module includes hydraulic control and communication module 11, micro electrode signal conditioning circuit board 12, data acquisition and communication circuit board 14, battery pack 15, communication interface 17, control interface 18, deck control unit 21, electromagnetic shielding metal mesh film 22;Hydraulic drive module is used to drive rotating electrode 2 and attitude adjustment module, and hydraulic drive module includes hydraulic rotation module 3, hydraulic control valve island 13, hydraulic interface 19, the hydraulic oil pipe 20 with electromagnetic shielding layer;Mechanical module includes protection frame 7, pressure-resistant shell 8, pressure-resistant end cover 9, electronic warehouse support 16;Attitude adjustment module is used to adjust and stabilize the attitude of rotating electrode 2, and includes three-axis underwater hydraulic rotation platform 1.

[0018] The orientation of rotating electrode 2 is changed by hydraulic rotation module 3 to change the measurement orientation of underwater electric field, and underwater three-component electric field measurement is realized by the use of two underwater micro electric field detection devices.

[0019] The three-axis underwater hydraulic rotation platform 1 includes pitch attitude rotation module 101, horizontal attitude rotation module 102, roll attitude rotation module 103 and rotation platform hydraulic interface 104, wherein the pitch attitude rotation module 101 has a connection ROV frame docking interface 1011 and a horizontal attitude rotation module docking interface 1012;The horizontal attitude rotation module 102 has a docking interface 1021 connected to the roll attitude rotation module 101 and a roll attitude rotation module docking interface 1022;The roll attitude rotation module 103 has a docking interface 1031 connected to the horizontal attitude rotation module 102 and a docking interface 1032 connected to the pressure-resistant shell 8;The rotation platform hydraulic interface 104 is connected to the hydraulic control valve island 13 to provide high-pressure oil liquid for driving the three-axis underwater hydraulic rotation platform.

[0020] As Figure 2As shown, the rotating electrode 2 comprises an Ag-AgCl electrode 201, a water-permeable shell 202, a signal transmission slip ring 203, a plastic base plate 204, a waterproof cable 205, and a sealing rubber ring 206; the Ag-AgCl electrode 201 is bonded on the plastic base plate 204 and arranged symmetrically; the plastic base plate 204 is installed in the water-permeable shell 202, and the signal transmission slip ring 203 is connected with the electrode 201 through the waterproof cable 206; the water-permeable shell 202 is designed with a clamping screw hole 2022, and a clamping bolt 2023 is in contact with the output shaft 301 through the clamping screw hole 2022 to realize the friction limiting function.

[0021] The hydraulic rotating module 3 comprises an output shaft 301, a signal contact transmission slip ring 302, a dynamic sealing device 303, a low-noise signal cable 304, a hydraulic motor 305, and a pressure sensor 306; the hydraulic motor digital encoder 10 is installed on the hydraulic motor driving shaft to obtain the rotation angle and position of the hydraulic rotating module 3; the output shaft 301 is connected with the water-permeable shell 202, and the output shaft 301 is provided with a limiting shaft shoulder 3011 for contact matching with the limiting hole shoulder 2021 designed on the water-permeable shell 202 to realize the limiting; the signal contact transmission slip ring 302 is in contact with the signal transmission slip ring 203; the dynamic sealing device 303 realizes the sealing of the output shaft 301, the water-permeable shell 202, and the outside.

[0022] The pressure-resistant shell 8 is connected with the pressure-resistant end cover 9, and both the pressure-resistant shell 8 and the pressure-resistant end cover 9 use titanium alloy materials; the communication interface 17, the control interface 18, and the hydraulic interface 19 are installed on the pressure-resistant shell through threads; the turbidimeter 4 and the thermometer 5 are installed on the outside of the pressure-resistant end cover 9; the electronic warehouse support 16 is installed inside the pressure-resistant shell 8; the hydraulic rotating module 3, the attitude sensor 6, the microelectrode signal conditioning circuit board 12, the hydraulic control valve island 13, the data acquisition and communication circuit board 14, and the battery pack 15 are installed on the electronic warehouse support 16.

[0023] The underwater micro-electric field signal detected by the rotating electrode 2 is transmitted to the micro-electrode signal conditioning circuit board 12 through the signal transmission slip ring 203, the signal contact transmission slip ring 302, and the low-noise signal cable 304, and is transmitted to the data acquisition and communication circuit board 14 after signal conditioning, and is transmitted to the deck control unit 21 through the communication interface 17 after digital processing; the hydraulic interface 19 is connected to the hydraulic pump station of the underwater unmanned submarine through the pressure-resistant hydraulic pipeline, the hydraulic control valve island 13 is connected to the hydraulic interface 19 through the hydraulic pipeline 20, and the hydraulic control valve island 13 is connected to the hydraulic rotating module 3 through the hydraulic pipeline 20; the hydraulic control and communication module 11 is connected to the hydraulic control valve island 13 through the control cable 1101, realizes the driving and hydraulic loop control of the hydraulic control valve island 13, is connected to the hydraulic motor digital encoder 10 through the signal cable 1102, realizes the rotation angle and position signal acquisition of the hydraulic rotating module 3, is connected to the data acquisition and communication circuit board 14 through the data communication cable 1103, transmits the current control state of the hydraulic control valve island 13 and the rotation angle and position information of the hydraulic rotating module 3 to the data acquisition and communication circuit board 14, and transmits the current control state of the hydraulic control valve island 13 and the rotation angle and position information of the hydraulic rotating module 3 to the deck control unit 21 through the communication interface 17; the pressure sensor 306 is connected to the data acquisition and communication circuit board 14 through the data communication cable 1103, transmits the hydraulic oil pressure information in the hydraulic motor 305 to the data acquisition and communication circuit board 14, and transmits the hydraulic oil pressure information in the hydraulic motor 305 to the hydraulic control and communication module 11 after calculation and processing by the data acquisition and communication circuit board 14; the hydraulic control and communication module 11 controls the hydraulic control valve island 13 to adjust the working state in real time according to the hydraulic oil pressure at the back of the hydraulic motor 305 and in combination with the embedded fuzzy control algorithm.

[0024] The attitude sensor 6 obtains the attitude information of the pressure-resistant shell 8, is connected to the data acquisition and communication circuit board 14 through the low-noise signal cable 304, the data acquisition and communication circuit board 14 sends an attitude control signal to the hydraulic control valve island 13 according to the signal of the attitude sensor 6, the hydraulic control valve island 13 controls the high-pressure oil liquid to drive the three-axis underwater hydraulic rotating platform 1 to realize three-axis linkage, so that the rotating electrode 2 of the underwater micro-electric field detection device is in a preset attitude.

[0025] The underwater micro-electric field detection device using a rotating electrode adopts an electromagnetic shielding metal mesh film 22 to cover the inner surface of the pressure-resistant shell 8, reduces the interference of electromagnetic leakage of electromagnetic elements and electronic elements on micro-electric field measurement, the pressure-resistant shell 8 and the pressure-resistant end cover 9 adopt corrosion-resistant titanium alloy materials, the water-permeable shell 202 adopts water-permeable ceramic materials with electrical insulation, and the protection frame 7 and the electronic warehouse support 16 adopt engineering plastic materials with non-magnetic materials.

[0026] The underwater micro electric field detection device using a rotating electrode is installed on an ROV underwater submersible, uses a posture sensor to detect its own posture, and adjusts the posture through a three-axis underwater hydraulic rotating platform to keep the electrode posture stable. Embodiments

[0027] The present application is installed on a small ROV, accesses the pump station of the ROV through a hydraulic interface, accesses the deck control unit 21 through a communication interface 17 and a control interface 18, connects the hydraulic interface 19 to the external ROV hydraulic pump station, connects the hydraulic rotating module 3 and the rotating platform hydraulic interface 104 of the three-axis underwater hydraulic rotating platform 1 using a hydraulic oil pipe 20.

[0028] The ROV frame docking interface 1011 and the horizontal attitude rotation module docking interface 1012 are connected by bolts, the horizontal attitude rotation module 102 docking interface 1021 and the roll attitude rotation module docking interface 1022 are connected by bolts, and the roll attitude rotation module docking interface 1031 and the pressure-resistant shell docking interface 801 are connected by bolts. The protection frame 7 is installed on the wet end of the pressure-resistant end cover 9, and the turbidimeter 4 and the thermometer 5 are installed on the wet end of the pressure-resistant end cover. The Ag-AgCl electrode 201 is bonded to the plastic base plate 204, the plastic base plate 204 is installed inside the water-permeable shell 202, the sealing rubber ring 206 is installed inside the water-permeable shell, the signal transmission slip ring 203 is installed inside the water-permeable shell, and the Ag-AgCl electrode 201 and the signal transmission slip ring 203 are connected by a waterproof cable 205. The rotating electrode 2 is installed on the output shaft 301 of the hydraulic rotation module 3, and is fixed on the output shaft 301 by using a close bolt 2023 installed in a close threaded hole 2022. The limiting shaft shoulder 3011 on the output shaft 301 and the limiting hole shoulder 2021 of the water-permeable shell 202 are disengaged, and the signal contact slip ring 32 and the signal transmission slip ring 203 are in contact. The dynamic sealing device 303 is installed on the output shaft 301. The hydraulic rotation module 3, the hydraulic control and communication module 11, the microelectrode signal conditioning circuit board 12, the hydraulic control valve island 13, the data acquisition and communication circuit board 14, the battery pack 15, the attitude sensor 6, the hydraulic control valve island 13, etc. are fixed on the electronic warehouse support by bolts. The hydraulic motor digital encoder 10 is installed on the hydraulic rotation module 3. The communication interface 17, the control interface 18, and the hydraulic interface 19 are installed on the pressure-resistant shell 8. The pressure-resistant shell 8 and the pressure-resistant end cover 9 are assembled together by threads. The operator operates the deck 21 control unit on the deck to set the control parameters, the hydraulic control and communication module 11 receives the upper computer signal, controls the hydraulic valve island 13 to work, and drives the hydraulic rotation module 3 to rotate according to the set parameters. The microelectrode signal conditioning circuit board 12 transmits the signal of the rotating electrode 2 after processing, the data acquisition and communication circuit board 14 acquires the signals of the turbidimeter 4, the thermometer 5, and the attitude sensor 6 in real time, combines the environmental signals and the attitude signals, corrects the microelectric field signal, and packs the data according to the self-defined data format to transmit to the deck control unit through the communication interface. The data acquisition and communication circuit board 14 acquires the attitude sensor signal, calculates the three-axis motion control parameters of the three-axis underwater hydraulic rotation platform, sends the motion control parameters to the hydraulic control and communication module, and controls the hydraulic control valve island to drive the three-axis underwater hydraulic rotation platform according to the signal, so that the underwater microelectric field detection device maintains the preset attitude.The real-time data of the turbidimeter 4 and the thermometer 5 is corrected by the data acquisition and communication circuit board 14 to the electrode signal, and the specific formula is E_corrected = E_raw x (1 + k1 x T + k2 x C) x Z, wherein k1 and k2 are correction coefficients of the temperature T and the turbidity C, and Z is a posture matrix measured by the posture sensor.

[0029] The technical features of the above-described embodiments can be further combined. In order to make the description simple, all possible combinations of the technical features in the above-described embodiments are not described, however, as long as the combinations of the technical features do not contradict, they should be considered as the scope of the description.

[0030] The above-described embodiments only express several implementation manners of the present application, the description is relatively specific and detailed, however, it should not be understood as the limitation to the scope of the application. It should be pointed out that, for the ordinary skilled in the art, several modifications and improvements can be made without departing from the concept of the present application, and they all belong to the protection scope of the present application. The protection scope of the present application is given by the appended claims and any equivalent technical solutions thereof.

Claims

1. An underwater micro-electric field detection device using a rotating electrode, characterized in that, it comprises a sensing module, a data processing and control module, a posture adjustment module, a hydraulic drive module, and a mechanical module; the sensing module is used for sensing underwater micro-electric field, turbidity, and temperature, and comprises a rotating electrode (2), a turbidity meter (4), a thermometer (5), a posture sensor (6), and a hydraulic motor digital encoder (10); the data processing and control module is used for communicating with a deck control unit (21), processing signals of the sensing module, and outputting control signals to the hydraulic drive module, and comprises a hydraulic control and communication module (11), a micro-electrode signal conditioning circuit board (12), a data acquisition and communication circuit board (14), a battery pack (15), a communication interface (17), a control interface (18), the deck control unit (21), and an electromagnetic shielding metal mesh film (22); the hydraulic drive module is used for driving the rotating electrode (2) and the posture adjustment module, and comprises a hydraulic rotation module (3), a hydraulic control valve island (13), a hydraulic interface (19), and a hydraulic oil pipe (20) with an electromagnetic shielding layer; the mechanical module comprises a protection frame (7), a pressure-resistant shell (8), a pressure-resistant end cover (9), and an electronic warehouse support (16); 2. The underwater microelectric field detection device using a rotating electrode according to claim 1, characterized in that, the posture adjustment module is used for adjusting and stabilizing the posture of the rotating electrode (2), and comprises a three-axis underwater hydraulic rotation platform (1); the measurement direction of the underwater electric field is changed by changing the direction of the rotating electrode (2) through the hydraulic rotation module (3), and underwater three-component electric field measurement is realized by using two underwater micro-electric field detection devices in combination. The three-axis underwater hydraulic rotation platform (1) comprises a pitch attitude rotation module (101), a horizontal attitude rotation module (102), a roll attitude rotation module (103), and a rotation platform hydraulic interface (104), wherein the pitch attitude rotation module (101) has a connection ROV frame docking interface (1011) and a horizontal attitude rotation module docking interface (1012); the horizontal attitude rotation module (102) has a docking interface (1021) connected to the pitch attitude rotation module (101) and a docking interface (1022) connected to the roll attitude rotation module (103); the roll attitude rotation module (103) has a docking interface (1031) connected to the horizontal attitude rotation module (102) and a docking interface (1032) connected to the pressure-resistant shell (8); and the rotation platform hydraulic interface (104) is connected to the hydraulic control valve island (13) to provide high-pressure oil liquid for driving the three-axis underwater hydraulic rotation platform.

3. The underwater microelectric field detection device using a rotating electrode according to claim 1, characterized in that, The rotating electrode (2) comprises an Ag-AgCl electrode (201), a water-permeable shell (202), a signal transmission slip ring (203), a plastic base plate (204), a waterproof cable (205), and a sealing rubber ring (206). The Ag-AgCl electrode (201) is bonded on the plastic base plate (204) and arranged symmetrically. The plastic base plate (204) is installed in the water-permeable shell (202), and the signal transmission slip ring (203) is connected with the electrode (201) through the waterproof cable (206). The water-permeable shell (202) is designed with a clamping screw hole (2022), and a clamping screw (2023) is in contact with an output shaft (301) through the clamping screw hole (2022) to realize a friction limiting function.

4. The underwater microelectric field detection device using a rotating electrode according to claim 1, characterized in that, The hydraulic rotating module (3) comprises an output shaft (301), a signal contact transmission slip ring (302), a dynamic sealing device (303), a low-noise signal cable (304), a hydraulic motor (305), and a pressure sensor (306). A hydraulic motor digital encoder (10) is installed on a hydraulic motor driving shaft to obtain the rotation angle and position of the hydraulic rotating module (3). The output shaft (301) is connected with the water-permeable shell (202), and the output shaft (301) is provided with a limiting shaft shoulder (3011) for contact and cooperation with a limiting hole shoulder (2021) designed on the water-permeable shell (202) to realize limiting. The signal contact transmission slip ring (302) is in contact with the signal transmission slip ring (203). The dynamic sealing device (303) realizes the sealing of the output shaft (301), the water-permeable shell (202) and the outside.

5. The underwater microelectric field detection device using a rotating electrode according to claim 1, characterized in that, The pressure-resistant shell (8) is connected with a pressure-resistant end cover (9), and the pressure-resistant shell (8) and the pressure-resistant end cover (9) are both made of titanium alloy material. A communication interface (17), a control interface (18) and a hydraulic interface (19) are threadedly installed on the pressure-resistant shell. A turbidimeter (4) and a thermometer (5) are installed on the outside of the pressure-resistant end cover (9). An electronic warehouse support (16) is installed inside the pressure-resistant shell (8). A hydraulic rotating module (3), a posture sensor (6), a microelectrode signal conditioning circuit board (12), a hydraulic control valve island (13), a data acquisition and communication circuit board (14) and a battery pack (15) are installed on the electronic warehouse support (16).

6. The underwater microelectric field detection device using a rotating electrode according to claim 4, characterized in that, The underwater micro-electric field signal detected by the rotating electrode (2) is transmitted to the micro-electrode signal conditioning circuit board (12) through the signal transmission slip ring (203), the signal contact transmission slip ring (302), and the low-noise signal cable (304), and is transmitted to the data acquisition and communication circuit board (14) after signal conditioning, and is transmitted to the deck control unit (21) through the communication interface (17) after digital processing; the hydraulic interface (19) is connected to the hydraulic pump station of the underwater unmanned submarine through the pressure-resistant hydraulic pipeline, the hydraulic control valve island (13) is connected to the hydraulic interface (19) through the hydraulic pipeline (20), and is connected to the hydraulic rotating module (3) through the hydraulic pipeline (20); the hydraulic control and communication module (11) is connected to the hydraulic control valve island (13) through the control cable (1101), realizes the driving and hydraulic circuit control of the hydraulic control valve island (13), is connected to the hydraulic motor digital encoder (10) through the signal cable (1102), realizes the rotation angle and position signal acquisition of the hydraulic rotating module (3), is connected to the data acquisition and communication circuit board (14) through the data communication cable (1103), transmits the current control state of the hydraulic control valve island (13) and the rotation angle and position information of the hydraulic rotating module (3) to the data acquisition and communication circuit board (14), and transmits the current control state of the hydraulic control valve island (13) and the rotation angle and position information of the hydraulic rotating module (3) to the data acquisition and communication circuit board (14) through the communication interface (17). The data acquisition and communication circuit board (14) transmits the current control state of the hydraulic control valve island (13) and the rotation angle and position information of the hydraulic rotating module (3) to the deck control unit (21); the pressure sensor (306) is connected to the data acquisition and communication circuit board (14) through the data communication cable (1103), transmits the hydraulic oil pressure information in the hydraulic motor (305) to the data acquisition and communication circuit board (14), and transmits the hydraulic oil pressure information in the hydraulic motor (305) to the data acquisition and communication circuit board (14) after calculation and processing by the data acquisition and communication circuit board (14); the hydraulic control and communication module (11) controls the hydraulic control valve island (13) to adjust the working state in real time according to the hydraulic oil pressure at the back of the hydraulic motor (305) and in combination with the embedded fuzzy control algorithm.

7. The underwater microelectric field detection device using a rotating electrode according to claim 2, characterized by The attitude sensor (6) obtains the attitude information of the pressure-resistant shell (8), and is connected to the data acquisition and communication circuit board (14) through the low-noise signal cable (34); the data acquisition and communication circuit board (14) sends an attitude control signal to the hydraulic control valve island (13) according to the signal of the attitude sensor (6); the hydraulic control valve island (13) controls the high-pressure oil liquid to drive the three-axis underwater hydraulic rotating platform (1) to realize three-axis linkage, so that the rotating electrode (2) of the underwater micro-electric field detection device is in a preset attitude.

8. The apparatus according to claim 1 or 2, wherein The inner surface of the pressure-resistant shell (8) is covered with an electromagnetic shielding metal mesh film (22) to reduce the interference of electromagnetic leakage of electromagnetic elements and electronic elements on micro-electric field measurement; the pressure-resistant shell (8) and the pressure-resistant end cover (9) are made of corrosion-resistant titanium alloy material, the water-permeable shell (202) is made of water-permeable ceramic material, the protection frame (7) and the electronic warehouse support (16) are made of non-magnetic engineering plastic material.

9. The underwater microelectric field detection device using a rotating electrode according to claim 1, characterized in that, The underwater vehicle is installed on an ROV, a posture sensor is used to detect the posture of the underwater vehicle, and a three-axis underwater hydraulic rotating platform is used to adjust the posture to keep the electrode posture stable.

Images