A waterproof sealing and constant temperature regulating device suitable for a cabin of a water surface boat and a control method thereof

Abstract

The application relates to a waterproof sealing and constant temperature regulating device suitable for a cabin of a water surface boat and a control method thereof. A hatch cover is arranged at the top of the cabin and used for sealing the top of the cabin. A waterproof temperature control system is arranged in the cabin and comprises a control and communication module, a monitoring module, a temperature control module and a drainage module arranged in the cabin. The temperature and water leakage in the cabin are monitored, and water in the cabin is drained in time. The hatch cover structure at the top of the cabin is optimized, the sealing property of the cabin is enhanced, the waterproof temperature control system can realize early intervention based on data-driven prediction logic by sensing the micro-environment change in the cabin in real time, the water leakage and electronic equipment failure risk are effectively reduced, and the overall performance and reliability of the water surface unmanned boat are improved.

Description

Technical Field

[0001] This invention belongs to the field of unmanned surface vessel technology, specifically relating to a waterproof sealing and constant temperature control device and its control method suitable for the cabin of a surface vessel. Background Technology

[0002] Unmanned surface vessels (USVs) are widely used in marine monitoring, scientific research, and military reconnaissance, applications that often require them to operate stably in various harsh environments. During operation, they may encounter conditions such as torrential rain, severe sea states, and strong winds causing waves on the deck, leading to leaks in the USV's electronics compartment. This places extremely high demands on the protection of critical equipment on the USV; its waterproofing, drainage, and temperature control capabilities directly affect the overall performance and reliability of the USV.

[0003] Existing waterproofing devices for unmanned surface vessels have relatively simple sealing structures, often focusing only on static sealing. While they can prevent external water infiltration to some extent, they have the following drawbacks: 1. The sealing structure is relatively simple, with only a single rubber gasket between the hatch cover and the hull, resulting in poor reliability and causing water leakage under heavy rain conditions, which can damage the electronic equipment inside the cabin.

[0004] 2. The inability to monitor changes in cabin temperature in real time makes the electronic equipment inside the cabin susceptible to thermal expansion and contraction, causing material aging or malfunction.

[0005] 3. The lack of a leak detection and prediction mechanism means that once water seeps in, it cannot be detected in time, and the accumulation may lead to short circuits or corrosion.

[0006] 4. The lack of temperature control function means that the cabin environment cannot be actively adjusted, which affects the stability of equipment performance under high or low temperature conditions.

[0007] 5. The lack of drainage devices or simple pump systems results in slow response speed and an inability to achieve rapid automatic drainage, which poses a high risk, especially in unmanned surface vessel (USV) operating scenarios. Once water accumulates inside the cabin, it can easily damage electronic equipment.

[0008] These problems reduce the reliability of unmanned surface vessels (USVs) when operating in complex waters. Therefore, there is an urgent need to develop a waterproof sealing and temperature control device and cabin suitable for USV cabins, which can quickly drain water after it enters the cabin, thereby improving the overall performance and reliability of USVs. Summary of the Invention

[0009] To address at least one of the problems in the prior art, the present invention aims to provide a waterproof sealing and temperature control device and its control method suitable for the cabin of a surface vessel. This device incorporates a waterproof temperature control system within the cabin to monitor the temperature and leakage, and promptly removes moisture from the cabin. Furthermore, by optimizing the structure of the hatch cover on the top of the cabin, the sealing performance of the cabin is enhanced, thereby improving the overall performance and reliability of the unmanned surface vessel.

[0010] To achieve the above objectives, the present invention adopts the following technical solution: A waterproof sealing and temperature control device for a surface boat cabin, wherein a hatch is provided on the top of the cabin to seal the top of the cabin; a control and communication module, a monitoring module, a temperature control module and a drainage module are provided inside the cabin; The control and communication module includes a microcontroller and a communication module connected thereto, the communication module being used to connect to the central control system of the unmanned surface vessel; The monitoring module includes an NTC thermistor temperature sensor and a capacitive water level sensor, which are respectively connected to the microcontroller. The environmental data of temperature and water level collected by the NTC thermistor temperature sensor and the capacitive water level sensor are input to the microcontroller. The temperature control module includes a PTC ceramic heater and a fan heat exchanger, which are respectively connected to the microcontroller. The microcontroller controls the PTC ceramic heater and the fan heat exchanger to maintain the temperature inside the cabin within a preset range. The drainage module includes a submersible pump and a solenoid valve, which are respectively connected to the microcontroller, to drain water accumulated in the cabin.

[0011] Preferably, a drainage channel is provided inside the hatch, and a drainage pipe is connected between the drainage channel and the submersible pump. The solenoid valve is installed on the drainage pipe. The microcontroller, the communication module, the NTC thermistor temperature sensor, the PTC ceramic heater, and the fan heat exchanger are all installed on the inner wall of the cabin. The capacitive water level sensor and the submersible pump are installed at the bottom of the cabin. The surface vessel cabin waterproofing and temperature control method based on this device includes the following steps: Temperature and water level data inside the cabin are collected by an NTC thermistor temperature sensor and a capacitive water level sensor, and the data is sent to the microcontroller. The microcontroller analyzes the data; When the water level is outside the set range, the microcontroller triggers the solenoid valve and starts the submersible pump to drain the water accumulated in the cabin. Finally, when the water level is within the set range, the drainage stops. At the same time, the microcontroller sends the drainage alarm information to the central control system of the unmanned surface vessel through the communication module to notify the operator. When the temperature is outside the set range, the PTC ceramic heater and fan heat exchanger are activated to regulate the temperature inside the cabin. Once the temperature is within the set range, the temperature regulation stops. At the same time, the microcontroller sends the temperature regulation alarm information to the unmanned surface vessel's central control system via the communication module to notify the operator. The microcontroller integrates a judgment model based on multi-dimensional time-series feature analysis. It acquires data in real time through the monitoring module, establishes a two-dimensional correlation vector between temperature and water level changes, and identifies the coupling characteristics of temperature drop and water level fluctuation components. The microcontroller can distinguish between normal environmental fluctuations and abnormal leakage trends, thereby predicting potential water leakage risks. It also sends alarm information to the central control system of the unmanned surface vessel through the communication module to notify the operator.

[0012] Preferably, the bottom of the hatch cover is provided with a boss and an annular groove, the side wall of the annular groove is provided with a sealing ring groove, and an O-ring is provided in the sealing ring groove; the top of the compartment is provided with an annular ridge, and after the hatch cover is fastened to the top of the compartment, the O-ring and the annular ridge form a sealing structure.

[0013] Preferably, an annular guide groove is provided on the outer wall of the boss, and a water collection point is provided at one corner of the bottom surface of the boss. The water collection point is set as an arc-shaped notch, and the guide groove extends downward from the highest point to the water collection point to ensure that the water in the guide groove can flow to the water collection point. A guide channel is provided on the inner wall of the compartment. The guide channel is located below the water collection point to allow the water at the water collection point to flow into the bottom of the compartment along the guide channel.

[0014] Preferably, the bottom of the compartment has converging ramps on both sides facing the center, and a water collection tank is provided at the center of the bottom of the compartment, which is the lowest point of the bottom of the compartment; the capacitive water level sensor and the submersible pump are installed in the water collection tank.

[0015] Preferably, the top surface of the hatch is configured as a ramp facing outwards from the unmanned vessel, and the ramp on the hatch can accelerate the drainage of water from its surface.

[0016] Preferably, in the slope design method, the relationship between the slope and the water flow velocity is based on the Chezy-Manning formula, which is as follows: ; in: v is the average flow velocity across the cross section; n is the Manning roughness coefficient, which reflects the roughness of the sidewall; R is the hydraulic radius, R = A / P w ; A is the cross-sectional area of ​​the water passage; P w For wet period; J is the hydraulic gradient. For uniform flow, the hydraulic gradient J is equal to the slope i. The slope of the incline is i = h / l, where h is the vertical height difference between the highest and lowest points of the incline, and l is the horizontal distance between the projections of the highest and lowest points of the incline onto the horizontal plane.

[0017] Preferably, in the step of starting the PTC ceramic heater and fan heat exchanger to regulate the temperature inside the cabin, the microcontroller employs a PID algorithm to adjust the output power of the PTC ceramic heater and fan heat exchanger in real time, so that the cabin temperature T(t) approaches the set temperature T. set Its continuous control law expression is: ; in: u(t) is the output signal of the microcontroller; e(t) = T set -T(t) represents the temperature deviation signal at time t; , for the integration time The corresponding temperature deviation signal; T set To set the temperature; T(t) is the actual cabin temperature at time t; T( ( ) represents the integration time. The corresponding actual temperature inside the cabin; K p This is a proportionality coefficient that determines the system's real-time response strength to deviations; K i This is the integral coefficient, used to eliminate system steady-state error and improve temperature control accuracy; K d These are the differential coefficients, reflecting the trend of deviation change; t represents the current running time of the system; Let be the integration variable, representing any historical moment from the initial moment to the current moment t.

[0018] Preferably, the judgment model based on multidimensional time-series feature analysis specifically establishes a comprehensive risk assessment model by identifying the coupling characteristics of the temperature decrease gradient and the water level increase trend. This model is used to distinguish between normal fluctuations and abnormal leakage. When the negative temperature gradient and the positive water level increment are highly coincident on the time axis, the comprehensive leakage risk assessment value P increases rapidly. ; in: P represents the comprehensive leakage risk assessment value; ω1 is the weighting coefficient for the temperature decrease characteristic; ω2 is the weighted coefficient of the water level growth characteristic, and ω1+ω2=1; |k T | represents the absolute value of the temperature change rate operator, used to capture the heat absorption characteristics caused by the infiltration of external cold water; k W This is a water level growth rate operator that reflects the temporal fluctuation characteristics of the water level in the sump.

[0019] The present invention has the following advantages due to the adoption of the above technical solutions: 1. The present invention provides a waterproof sealing and constant temperature control device and control method suitable for the cabin of a surface boat. It adopts a hatch cover with optimized structural design. Through the combination of hatch cover slope structure, double O-ring sealing interface and leakage guide groove, the hatch cover has the comprehensive ability to reduce the adhering water film and improve the sealing reliability through hydrophobic surface treatment, airflow adhesion effect and the synergistic effect of the guide structure.

[0020] 2. The present invention provides a waterproof sealing and constant temperature control device and control method suitable for the cabin of a surface vessel. The device uses multi-sensor fusion monitoring. The waterproof temperature control system uses multi-sensor fusion technology to form a dual-parameter monitoring network based on NTC thermistors and capacitive water level sensors. The fusion processing is performed by a microcontroller to establish a two-dimensional correlation vector between temperature and water level changes, thereby improving the accuracy and response speed of leakage detection.

[0021] 3. The present invention provides a waterproof sealing and constant temperature control device and control method suitable for the cabin of a surface vessel. It adopts PID bidirectional temperature control regulation, combined with PTC ceramic heater and fan heat exchanger to achieve high-precision temperature control. Its core innovation lies in the precise control of the temperature in the electronic cabin, so that the temperature is kept stable in a suitable range and the life of electronic equipment under extreme environments is extended.

[0022] 4. This invention provides a waterproof sealing and temperature control device and method suitable for surface vessel cabins. By installing a small fan heat exchanger at the top of the cabin wall, a dynamic drying air curtain covering the wall surface is formed using the wall adhesion effect. Tangential shear force is used to directionally push minute amounts of seepage water towards the bottom of the cabin. The bottom of the cabin utilizes a pulse-type drainage mode based on a micro submersible pump and solenoid valve, combined with a judgment model based on multi-dimensional time-series feature analysis to predict and pre-open the solenoid valve, significantly shortening the drainage response time and improving the efficiency of responding to sudden leaks. Attached Figure Description

[0023] Figure 1 This is a module block diagram of a waterproof sealing and constant temperature control device for the cabin of a surface vessel, provided in Embodiment 1 of the present invention.

[0024] Figure 2 This is a three-dimensional structural diagram of the unmanned surface vessel provided in Embodiment 1 of the present invention.

[0025] Figure 3 This is a schematic diagram of the three-dimensional structure of the cabin provided in Embodiment 1 of the present invention.

[0026] Figure 4 This is a three-dimensional structural perspective view of the unmanned surface vessel provided in Embodiment 1 of the present invention.

[0027] Figure 5 This is the main perspective view of the unmanned surface vessel provided in Embodiment 1 of the present invention.

[0028] Figure 6 This is a schematic diagram of the hatch structure provided in Embodiment 1 of the present invention.

[0029] Figure 7 This is a three-dimensional perspective view of the hatch provided in Embodiment 1 of the present invention.

[0030] Figure 8 This is a side perspective view of the hatch provided in Embodiment 1 of the present invention.

[0031] Figure 9 This is a schematic diagram of the drainage pipe area structure provided in Embodiment 1 of the present invention.

[0032] Figure 10 This is a schematic diagram of the flow channel area provided in Embodiment 1 of the present invention.

[0033] Figure 11 This is a schematic diagram of the water accumulation tank area provided in Embodiment 1 of the present invention.

[0034] Figure 12 This is a flowchart of the water-resistant temperature control method for the cabin of a surface vessel provided in Embodiment 2 of the present invention.

[0035] Marked in the attached diagram: 1 is a microcontroller, 2 is a communication module, 3 is an NTC thermistor temperature sensor, 4 is a capacitive water level sensor, 5 is a PTC ceramic heater, 6 is a fan heat exchanger, 7 is a submersible pump, 8 is a solenoid valve, 9 is a drain pipe, 100 is a compartment, 101 is a flow channel, 102 is a water collection tank, 200 is a hatch cover, 201 is a drainage channel, 202 is a boss, 203 is a sealing ring groove, 204 is a flow channel, 205 is a leakage convergence point, and 206 is a ramp. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0037] In the description of this invention, it should be noted that the terms "upper", "lower", "front", "rear", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the system or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention. The area within the dashed box in the figure is a constant temperature control device.

[0038] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "assembly," "setup," and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0039] This invention provides a waterproof sealing and temperature control device and method for the cabin of a surface vessel. A waterproof temperature control system is installed in the cabin to monitor the temperature and leakage, and to drain moisture from the cabin in a timely manner. By optimizing the structure of the hatch on the top of the cabin, the airtightness of the cabin is enhanced. The waterproof temperature control system can sense changes in the microenvironment inside the cabin in real time and realize early intervention based on data-driven predictive logic, thereby effectively reducing the risk of water leakage and electronic equipment failure, and improving the overall performance and reliability of the unmanned surface vessel.

[0040] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0041] Example 1 Please refer to Figure 1 This embodiment provides a waterproof sealing and constant temperature control device suitable for the cabin of a surface boat. The top of the cabin 100 is provided with a hatch cover 200, which is used to seal the top of the cabin 100. The cabin 100 is provided with a control and communication module, a monitoring module, a temperature control module and a drainage module. The control and communication module includes a microcontroller 1 and a communication module 2 connected to it. The communication module 2 is a CAN bus module and is used to connect to the central control system of the unmanned surface vessel. The monitoring module includes an NTC thermistor temperature sensor 3 and a capacitive water level sensor 4, which are respectively connected to the microcontroller 1. The environmental data of temperature and water level collected by the NTC thermistor temperature sensor 3 and the capacitive water level sensor 4 are input to the microcontroller 1. The temperature control module includes a PTC ceramic heater 5 and a fan heat exchanger 6, which are respectively connected to a microcontroller. The fan heat exchanger 6 is a small fan heat exchanger. The PTC ceramic heater 5 and the fan heat exchanger 6 are controlled by the microcontroller 1 to maintain the temperature inside the cabin within a preset range. The drainage module includes a submersible pump 7 and a solenoid valve 8, which are respectively connected to the microcontroller. The submersible pump 7 is a miniature submersible pump used to drain water accumulated in the cabin.

[0042] In this embodiment, the temperature control device is powered by the unmanned surface vessel (USV). The information from the temperature control device can be transmitted to the ground station terminal through the USV's central control system's USV main control wireless data transmission module, allowing the operator to understand the status inside the cabin.

[0043] Please refer to Figures 2 to 11 In this embodiment, a drainage channel 201 is provided inside the hatch 200, and a drainage pipe 9 is connected between the drainage channel 201 and the submersible pump 7. An electromagnetic valve 8 is installed on the drainage pipe 9. The microcontroller 1, communication module 2, NTC thermistor temperature sensor 3, PTC ceramic heater 5, and fan heat exchanger 6 are all installed on the inner wall of the cabin. Specifically, the fan heat exchanger 6 is installed at the top of the cabin and connected to its inner wall, with its airflow blowing downwards. The airflow generated by the fan heat exchanger 6 flows downwards along the inner wall of the cabin under the effect of the wall adhesion, forming a dynamic drying air curtain covering the inner wall of the cabin. The tangential shear force of the airflow is used to directionally push the small amount of seepage water on the cabin wall towards the bottom water trough 102. Based on the judgment results of the multi-dimensional time-series feature analysis judgment model, the microcontroller 1 controls the electromagnetic valve 8 to enter a low-power half-open state in advance when a potential leakage risk is predicted. When the water level exceeds the set range, the microcontroller 1 controls the electromagnetic valve 8 to fully open and starts the submersible pump 7 to discharge the accumulated water in a pulse-type drainage manner. The capacitive water level sensor 4 and the submersible pump 7 are located at the bottom of the compartment 100.

[0044] In this embodiment, a small fan heat exchanger is installed at the top of the inner wall of the compartment to form a dynamic drying air curtain covering the wall surface using the wall adhesion effect. Tangential shear force is used to push the minute amount of seepage water directionally towards the bottom of the compartment. The bottom of the compartment uses a pulse-type drainage mode based on a micro submersible pump and a solenoid valve, combined with a judgment model based on multi-dimensional time series feature analysis to predict and pre-open the solenoid valve, which significantly shortens the drainage response time and improves the efficiency of responding to sudden leaks.

[0045] In this embodiment, the bottom of the hatch 200 is provided with a boss 202 and an annular groove. The side wall of the annular groove is provided with a sealing ring groove 203. An O-ring is provided in the sealing ring groove 203. The sealing ring groove 203 can be provided with two grooves to better achieve the seal between the hatch 200 and the compartment. The top of the compartment is provided with an annular ridge. After the hatch 200 is fastened to the top of the compartment 100, the O-ring and the annular ridge form a sealing structure.

[0046] In this embodiment, two O-rings inside the hatch cover 200 provide friction between the hatch cover 200 and the ship's compartment. The basic calculation formula for the design of the O-rings is as follows: ; in: F: Frictional force (unit: Newton, N); μ: coefficient of friction (dimensionless); P n Total contact pressure of the O-ring on the sealing surface (unit: MPa); A: Effective contact area between the O-ring and the sealing surface (unit: mm) 2 ); Total contact pressure From initial contact pressure It consists of two parts: the system working pressure p. The initial contact pressure is generated by the pre-compression during O-ring installation, and is therefore directly related to the compression ratio W. The formula for calculating the compression ratio is: ; in: d0: The cross-sectional diameter of the O-ring in its free state (mm); h: Trench depth (mm); In this embodiment, after the hatch cover 200 and the compartment 100 are fastened to the top of the compartment 100, the outer side of the hatch cover 200 is provided with an extended flange to ensure that most of the water flow on it flows directly into the water along the flange and does not flow onto the deck of the unmanned vessel.

[0047] In this embodiment, the drainage channel 201 is bent inside the hatch cover 200, with the top portion of the drainage channel sloping downwards outwards to ensure that the water inside can flow outwards from the drain outlet under the influence of gravity. The drain outlet of the drainage channel 201 is located at the outer edge of the hatch cover 200.

[0048] In this embodiment, an annular guide groove 204 is provided on the outer wall of the boss 202, and a water collection point 205 is provided at one corner of the bottom surface of the boss. The water collection point 205 is set as an arc-shaped notch. The guide groove 204 extends downward from the highest point to the water collection point 205 to ensure that the water in the guide groove 204 can flow to the water collection point 205. A guide channel 101 is provided on the inner wall of the compartment 100. The guide channel 101 is located below the water collection point 205 to allow the water at the water collection point 205 to flow into the bottom of the compartment 100 along the guide channel 101.

[0049] In this embodiment, the bottom sides of the compartment 100 are provided with converging ramps facing the center, and a water collection tank 102 is provided at the center of the bottom of the compartment, which is the lowest point of the bottom of the compartment 100; the capacitive water level sensor 4 and the submersible pump 7 are installed in the water collection tank 102.

[0050] In this embodiment, the top surface of the hatch 200 is configured as a ramp 206 facing outwards from the unmanned surface vessel, and the ramp 206 on the hatch 200 can accelerate the dissipation of water from its surface.

[0051] In this embodiment, the design method for slope 206 uses the Chézy-Manning Formula to determine the relationship between the slope and the flow velocity. The formula is as follows: ; in: v is the average flow velocity across the cross section (m / s); n is the Manning roughness coefficient, which reflects the roughness of the sidewall; R is the hydraulic radius (m), R = A / P w ; A is the cross-sectional area of ​​the water passage (m²) 2 ); P w The wetted perimeter (m); J is the hydraulic gradient (dimensionless). For uniform flow, the hydraulic gradient J is equal to the slope i. The slope of a slope is i = h / l, where h is the vertical height difference between the highest and lowest points of the slope, and l is the horizontal distance between the projections of the highest and lowest points onto the horizontal plane. When the slope is expressed as a percentage, the percentage is i × 100%.

[0052] In this embodiment, the hatch 200 is designed with a sloping top based on hydrodynamic optimization. Its outer surface is coated with a superhydrophobic nano-coating, causing rainwater and waves to form spherical droplets that quickly roll off, thereby reducing water film adhesion. The inner walls of the compartment 100 and the bottom confluence ramp are also coated with the same superhydrophobic nano-coating. This superhydrophobic nano-coating is a superhydrophobic coating based on a composite of perfluoroalkyl siloxane and modified nano-silica, ensuring that it can reduce the frictional resistance between air and the wall surface even in humid environments. By utilizing the wall adhesion effect of airflow, the dry, hot air blown by the small fan flows closely against the wall of the electronic control compartment, forming a high-speed air film that quickly carries away any trace moisture that may seep from the compartment walls. The hatch has drainage holes that connect to the internal drainage channels, serving as the outlet interface for the drainage system to quickly drain water accumulated inside the compartment.

[0053] Specifically, the airflow generated by the fan heat exchanger 6 adheres closely to the wall surface, and its radial pressure balance equation is: ; in: p: represents airflow pressure; ρ: air density; v: airflow velocity; R: Radius of wall curvature; r is the radial coordinate perpendicular to the direction of the cabin's interior wall; The above explains why airflow adheres to the wall surface: as the airflow moves along the wall, the centrifugal force and the pressure gradient on the wall reach equilibrium.

[0054] Example 2 Please refer to Figure 12 This embodiment provides a waterproof and temperature-controlled method for unmanned surface vessel cabins, based on the waterproof sealing and constant temperature control device for surface vessel cabins provided in Embodiment 1, and includes the following steps: S01. The temperature and water level data inside the chamber 100 are collected by the NTC thermistor temperature sensor 3 and the capacitive water level sensor 4, and the data is sent to the microcontroller 1. S02, Microcontroller 1 analyzes the data; S03. When the water level or temperature is within the set range, the NTC thermistor temperature sensor 3 and the capacitive water level sensor 4 continue to monitor the temperature and water level data inside the cabin. S04. When the water level is outside the set value range, the microcontroller 1 triggers the solenoid valve 8 and starts the submersible pump 7 to drain the water accumulated in the compartment 100. Finally, when the water level is within the set value range, the drainage stops. At the same time, the microcontroller 1 sends the drainage alarm information to the central control system of the unmanned surface vessel through the communication module 2 to notify the operator. S05. When the temperature is outside the set value range, start the PTC ceramic heater 5 and the fan heat exchanger 6 to adjust the temperature in the compartment 100. Finally, when the temperature is within the set value range, stop the temperature adjustment. At the same time, the microcontroller 1 sends the temperature adjustment alarm information to the central control system of the unmanned surface vessel through the communication module 2 to notify the operator. S06. The microcontroller 1 integrates a judgment model based on multi-dimensional time-series feature analysis. It acquires data in real time through the monitoring module, establishes a two-dimensional correlation vector between temperature and water level changes, and identifies the coupling characteristics of temperature drop and water level fluctuation components. The microcontroller can distinguish between normal environmental fluctuations and abnormal leakage trends, thereby predicting potential water leakage risks. It also sends alarm information to the central control system of the unmanned surface vessel through the communication module to notify the operator.

[0055] In this embodiment, the monitoring module continuously collects environmental data on temperature and water level through the NTC thermistor temperature sensor 3 and the capacitive water level sensor 4 and inputs it into the decision core of the microcontroller 1; the temperature control module uses the PTC ceramic heater 5 and the fan heat exchanger 6 and adopts the PID algorithm to automatically adjust the temperature and maintain it within the preset range.

[0056] In this embodiment, during the step of starting the PTC ceramic heater and fan heat exchanger to regulate the temperature inside the chamber, the microcontroller employs a PID algorithm to adjust the output power of the PTC ceramic heater and fan heat exchanger in real time, so that the temperature T(t) inside the chamber approaches the set temperature T. set Its continuous control law formula is: ; in: u(t) is the output signal (%) of the microcontroller; e(t) = T set -T(t) represents the temperature deviation signal at time t; , for the integration time The corresponding temperature deviation signal; T set To set the temperature; T(t) is the actual cabin temperature at time t; T( ( ) represents the integration time. The corresponding actual temperature inside the cabin; K p This is a proportionality coefficient that determines the system's real-time response strength to deviations; K i This is the integral coefficient, used to eliminate system steady-state error and improve temperature control accuracy; K d These are the differential coefficients, reflecting the trend of deviation change; t is the current running time of the system (s); Let be the integration variable, representing any historical moment from the initial moment to the current moment t.

[0057] In this embodiment, when the capacitive water level sensor 4 detects that the water level exceeds the set height, it triggers a drainage command. The microcontroller 1 opens the solenoid valve 8 and starts the submersible pump 7 to drain the accumulated water. One end of the drain pipe 9 is connected to the outlet of the submersible pump located in the water accumulation tank 102, and the other end is connected to the drainage channel 201 inside the hatch cover 200. The solenoid valve 8 is connected in series on the drain pipe 9 and is controlled by the judgment command of the microcontroller 1 to control the opening and closing of the pipeline.

[0058] In this embodiment, the judgment model based on multidimensional time series feature analysis specifically establishes a comprehensive risk assessment model by identifying the coupling characteristics of temperature decrease gradient and water level increase trend. This model is used to distinguish between normal fluctuations and abnormal leakage. When the negative temperature gradient and the positive water level increment are highly coincident on the time axis, the comprehensive leakage risk assessment value P increases rapidly.

[0059] The logic for predicting leakage risk based on multidimensional temporal features first involves calculating the changing trends of temperature and water level per unit time, and then extracting a gradient operator that reflects environmental evolution. The calculation formula is as follows: ; ;

[0060] in: k T Temperature change rate operator, reflecting the degree of temperature change in the cabin environment; k W The water level growth rate operator reflects the temporal fluctuation characteristics of the water level in the sump. T(t): The actual cabin temperature at time t, a real-time temperature value collected by an NTC thermistor; W(t): The real-time water level value collected by the capacitive water level sensor at time t; Δt: System data sampling period.

[0061] Furthermore, by identifying the coupling characteristics between the temperature decrease gradient and the water level increase trend, a comprehensive risk assessment model is established to distinguish between normal fluctuations and abnormal leakage. When the system detects that the negative temperature gradient and the positive water level increment highly coincide on the time axis, the risk probability P increases rapidly. ; in: P: Comprehensive leakage risk assessment value; ω1: Weighting coefficient for the temperature decrease characteristic; ω2: The weighted coefficient of water level growth characteristics, and ω1+ω2=1; |k T |: The absolute value of the temperature change rate operator, used to capture the heat absorption characteristics caused by the infiltration of external cold water; The multidimensional time-series feature analysis judgment model mentioned in this embodiment specifically performs correlation analysis on time-series data in two dimensions: temperature and water level. Microcontroller 1 synchronously acquires temperature value T(t) and water level value W(t) according to the sampling period Δt, establishing a two-dimensional correlation vector between temperature and water level composed of two components, T(t) and W(t). This two-dimensional correlation vector is the matrix formed by T(t) and W(t). Microcontroller 1 calculates the temperature change rate operator k based on data from adjacent sampling times. T And water level growth rate operator k W When k T Less than 0 and k W When the value is greater than 0, calculate the comprehensive leakage risk assessment value P; P varies with |k T |and k W The leakage rate increases with the increase of the above coupling characteristics. The microcontroller 1 distinguishes between normal environmental fluctuations and abnormal leakage trends based on the above coupling characteristics; when it determines that there is an abnormal leakage trend, it sends a pre-opening control command to the solenoid valve 8 and sends an alarm message through the communication module 2.

[0062] In this embodiment, the control and communication module uses microcontroller 1 as the core processing unit, integrating a judgment model based on multi-dimensional time-series feature analysis. The system acquires data in real time through the monitoring module and establishes a two-dimensional correlation vector between temperature and water level changes. By identifying the coupling characteristics of temperature drop and water level fluctuation components, the system can distinguish between normal environmental fluctuations and abnormal leakage trends, thereby predicting potential leakage risks. When the risk assessment value determined by the model exceeds the preset risk threshold, microcontroller 1 issues a pre-start command, controlling solenoid valve 8 to enter a low-power half-open state with duty cycle modulation. By adjusting the pulse duty cycle of the solenoid valve 8 drive signal, the valve core is kept slightly moving, eliminating the influence of static friction on the response speed, and creating an initial pressure difference in the drainage pipeline, thereby achieving instantaneous high-flow discharge when switching to the fully open mode. Microcontroller 1 encapsulates the abnormal state into an alarm data frame conforming to the CAN communication protocol, uploads it to the entire vessel control center via the CAN bus, and transmits it to the ground operator through the unmanned surface vessel's wireless communication gateway, completing a closed-loop protection from sensing, feature recognition to action warning.

[0063] This method employs multi-source sensor data fusion and temporal feature correlation analysis for environmental monitoring. Data is collected in real-time by temperature and water level sensors, and microcontroller 1 simultaneously analyzes three decision paths. Real-time monitoring is achieved using an NTC thermistor temperature sensor 3 and a PID algorithm. The microcontroller 1 automatically adjusts heating or cooling based on temperature anomalies, achieving near-constant temperature control and extending equipment lifespan compared to traditional methods without temperature control. To address slow response to leakage, a capacitive water level sensor 4 and a solenoid valve 8 are linked, triggering pulse drainage immediately upon detecting a water level exceeding a set threshold. To address delayed waterproofing under complex sea conditions, the system extracts temporal feature operators of temperature drop and water level fluctuations for risk probability assessment, proactively deploying a partially open valve to achieve faster response and improved drainage efficiency—a smart protection effect. Finally, the system sends an alarm to the operator via the communication module, forming a fully closed-loop active protection system encompassing multi-dimensional perception, feature analysis, precise execution, and status feedback.

[0064] The unmanned surface vessel (USV) compartment in this embodiment has a hatch with two O-ring seals, a ramp 206 on top, a drainage channel 201, and a leakage guide trough 204. A waterproof temperature control system is installed inside the compartment 100. An NTC thermistor temperature sensor 3 and a capacitive water level sensor 4 are installed on the upper part of the compartment wall and the center of the bottom, respectively. A microcontroller 1 synchronously acquires data and performs analysis based on a multi-dimensional time-series characteristic judgment model. The temperature control module dynamically adjusts the temperature using a PID algorithm through a PTC ceramic heater 5 and a fan heat exchanger 6. The drainage module uses a fan to push seepage water to the bottom of the compartment, where a submersible pump 7 and a solenoid valve 8 combine to eliminate accumulated water using a pulse drainage mode. The control and communication module uses an integrated CAN bus to support remote alarms and strategy adjustments.

[0065] In this embodiment, the unmanned surface vessel's (USV) cabin features a specially designed hatch to ensure its airtightness, and a leakage diversion structure directs seepage into a collection tank. The waterproof and temperature control system periodically collects temperature and water level data under normal monitoring conditions. When seepage is detected, the fan heat exchanger 6 activates, pushing the seepage from the cabin walls towards the bottom and into the collection tank. When the water level exceeds a set threshold, the solenoid valve 8 immediately opens, triggering the submersible pump 7 to drain water in pulse mode. Simultaneously, an alarm signal is sent to the control center via the CAN bus, and then transmitted to ground operators via the USV control center's wireless communication gateway. In case of abnormal temperature, the system automatically activates the PTC ceramic heater 5 or the fan heat exchanger 6 to maintain temperature stability. A judgment model based on multi-dimensional time-series characteristics can preemptively partially open the solenoid valve 8 based on temperature and water level change trends, achieving predictive drainage. This embodiment, through the synergistic effect of structural protection and intelligent control, ensures the long-term stable operation of the USV in complex water conditions and reduces the failure rate of electronic equipment within the cabin.

[0066] In this embodiment, the capacitive water level sensor 4 continuously collects environmental information and inputs it into the microcontroller 1 for decision-making output, significantly reducing the leakage response time. The system, through the coordination of the solenoid valve 8 and the pulse drainage mode, further greatly improves drainage efficiency, ensuring the safe operation of the internal electronic equipment even in the event of leakage due to poor structural sealing, thus reducing the failure rate. A PID algorithm is used to regulate the PTC ceramic heater 5 and the fan heat exchanger 6, controlling temperature fluctuations and extending equipment lifespan. By combining sealing and waterproofing with active drainage, stable performance is maintained under extreme environmental conditions, surpassing the durability of single passive sealing. A specially designed sealed hatch allows leaked water to collect, and the fan utilizes the wall effect to push the seepage water to the bottom of the hull, facilitating active drainage. This allows the unmanned surface vessel (USV) to maintain normal operation of its internal electronic equipment in a wider range of ambient temperatures and harsher sea conditions, ensuring normal operation and expanding the USV's applicable environmental range. Through multi-source data collaborative decision-making, temperature and water level changes are analyzed and predicted for leakage risk using a judgment model based on multi-dimensional time-series feature analysis, overcoming the blind spots of traditional single-point detection and improving overall operational reliability. Establish a comprehensive protection mechanism to form a closed loop of monitoring, control, and execution, and quickly sound an alarm in case of abnormal environmental conditions inside the cabin to reduce the risk of accidents.

[0067] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A waterproof sealing and temperature control device suitable for the cabins of surface vessels, characterized in that, The top of the compartment is equipped with a hatch for sealing the top of the compartment; the compartment is equipped with a control and communication module, a monitoring module, a temperature control module and a drainage module. The control and communication module includes a microcontroller and a communication module connected thereto, the communication module being used to connect to the central control system of the unmanned surface vessel; The monitoring module includes an NTC thermistor temperature sensor and a capacitive water level sensor, which are respectively connected to the microcontroller. The environmental data of temperature and water level collected by the NTC thermistor temperature sensor and the capacitive water level sensor are input to the microcontroller. The temperature control module includes a PTC ceramic heater and a fan heat exchanger, which are respectively connected to the microcontroller. The microcontroller controls the PTC ceramic heater and the fan heat exchanger to maintain the temperature inside the cabin within a preset range. The drainage module includes a submersible pump and a solenoid valve, which are respectively connected to the microcontroller, for draining water accumulated in the cabin; The surface vessel cabin waterproofing and temperature control method based on this device includes the following steps: Temperature and water level data inside the cabin are collected by an NTC thermistor temperature sensor and a capacitive water level sensor, and the data is sent to the microcontroller. The microcontroller analyzes the data; When the water level is outside the set range, the microcontroller triggers the solenoid valve and starts the submersible pump to drain the water accumulated in the cabin. Finally, when the water level is within the set range, the drainage stops. At the same time, the microcontroller sends the drainage alarm information to the central control system of the unmanned surface vessel through the communication module to notify the operator. When the temperature is outside the set range, the PTC ceramic heater and fan heat exchanger are activated to regulate the temperature inside the cabin. Once the temperature is within the set range, the temperature regulation stops. At the same time, the microcontroller sends the temperature regulation alarm information to the unmanned surface vessel's central control system via the communication module to notify the operator. The microcontroller integrates a judgment model based on multi-dimensional time-series feature analysis. It acquires data in real time through the monitoring module, establishes a two-dimensional correlation vector between temperature and water level changes, and identifies the coupling characteristics of temperature drop and water level fluctuation components. The microcontroller can distinguish between normal environmental fluctuations and abnormal leakage trends, thereby predicting potential water leakage risks. It also sends alarm information to the central control system of the unmanned surface vessel through the communication module to notify the operator.

2. The waterproof sealing and temperature control device for surface vessel cabins according to claim 1, characterized in that, A drainage channel is provided inside the hatch, and a drainage pipe is connected between the drainage channel and the submersible pump. The solenoid valve is installed on the drainage pipe. The microcontroller, the communication module, the NTC thermistor temperature sensor, the PTC ceramic heater, and the fan heat exchanger are all installed on the inner wall of the cabin. The capacitive water level sensor and the submersible pump are installed at the bottom of the cabin.

3. The waterproof sealing and temperature control device for surface vessel cabins according to claim 2, characterized in that, The bottom of the hatch is provided with a boss and an annular groove. The side wall of the annular groove is provided with a sealing ring groove, and an O-ring is provided in the sealing ring groove. The top of the compartment is provided with an annular ridge. After the hatch is fastened to the top of the compartment, the O-ring and the annular ridge form a sealing structure.

4. The waterproof sealing and temperature control device for surface vessel cabins according to claim 3, characterized in that, An annular guide groove is provided on the outer wall of the boss, and a water collection point is provided at one corner of the bottom surface of the boss. The water collection point is set as an arc-shaped notch. The guide groove extends from the highest point to the water collection point to ensure that the water in the guide groove can flow to the water collection point. A guide channel is provided on the inner wall of the compartment. The guide channel is located below the water collection point to allow the water at the water collection point to flow into the bottom of the compartment along the guide channel.

5. The waterproof sealing and temperature control device for surface vessel cabins according to claim 4, characterized in that, The bottom of the compartment has converging ramps on both sides facing the center, and a water collection tank is located at the center of the bottom of the compartment, which is the lowest point of the bottom of the compartment; the capacitive water level sensor and the submersible pump are located in the water collection tank.

6. The waterproof sealing and temperature control device for surface vessel cabins according to claim 2, characterized in that, The top surface of the hatch is configured as a ramp facing outwards from the unmanned vessel, and the ramp on the hatch can accelerate the drainage of water from its surface.

7. The waterproof sealing and temperature control device for surface vessel cabins according to claim 6, characterized in that, The slope design method uses the Chezy-Manning formula to determine the relationship between the slope and the flow velocity, as follows: ； in: v is the average flow velocity across the cross section; n is the Manning roughness coefficient, which reflects the roughness of the sidewall; R is the hydraulic radius, R = A / P w ; A is the cross-sectional area of ​​the water passage; P w For wet period; J is the hydraulic gradient. For uniform flow, the hydraulic gradient J is equal to the slope i. The slope of the incline is i = h / l, where h is the vertical height difference between the highest and lowest points of the incline, and l is the horizontal distance between the projection points of the highest and lowest points of the incline onto the horizontal plane.

8. The waterproof sealing and temperature control device for surface vessel cabins according to claim 1, characterized in that, In the step of starting the PTC ceramic heater and fan heat exchanger to regulate the temperature inside the chamber, the microcontroller uses a PID algorithm to adjust the output power of the PTC ceramic heater and fan heat exchanger in real time, so that the temperature T(t) inside the chamber approaches the set temperature T. set Its continuous control law expression is: ； in: u(t) is the output signal of the microcontroller; e(t) = T set -T(t) represents the temperature deviation signal at time t; , for the integration time The corresponding temperature deviation signal; T set To set the temperature; T(t) is the actual cabin temperature at time t; T( ( ) represents the integration time. The corresponding actual temperature inside the cabin; K p This is a proportionality coefficient that determines the system's real-time response strength to deviations; K i This is the integral coefficient, used to eliminate system steady-state error and improve temperature control accuracy; K d These are the differential coefficients, reflecting the trend of deviation change; t represents the current running time of the system; Let be the integration variable, representing any historical moment from the initial moment to the current moment t.

9. The waterproof sealing and temperature control device for surface vessel cabins according to claim 1, characterized in that, The judgment model based on multidimensional time-series feature analysis specifically establishes a comprehensive risk assessment model by identifying the coupling characteristics of temperature decrease gradient and water level increase trend. This model is used to distinguish between normal fluctuations and abnormal leakage. When the negative temperature gradient and the positive water level increment are highly coincident on the time axis, the comprehensive leakage risk assessment value P increases rapidly. ； in: P represents the comprehensive leakage risk assessment value; ω1 is the weighting coefficient for the temperature decrease characteristic; ω2 is the weighted coefficient of the water level growth characteristic, and ω1+ω2 =1; |k T | represents the absolute value of the temperature change rate operator, used to capture the heat absorption characteristics caused by the infiltration of external cold water; k W This is a water level growth rate operator that reflects the temporal fluctuation characteristics of the water level in the sump.

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