阅读说明：本技术 水下半封闭容腔倒灌水流动态液位测量装置及测量方法 (Dynamic liquid level measuring device and method for flowing backward water in underwater semi-closed cavity ) 是由 傅德彬 李超艳 刘浩天 杨珺凡 魏天宇 于 2021-06-21 设计创作，主要内容包括：本发明公开了一种水下半封闭容腔倒灌水流动态液位测量装置,用于潜艇等水下发射平台发射筒内液位测量,该装置包括磁浮子(1)和磁感应传感器(2),磁浮子(1)置于发射筒(3)内侧,磁感应传感器(2)固定在发射筒(3)的外侧,发射筒的水位上升驱动磁浮子结构中的磁浮子上浮,进而触发发射筒外壁的磁感应传感器,满足对发射筒中海水液位瞬态监测的目的。本发明公开的水下半封闭容腔倒灌水流动态液位测量装置,具有结构简单、成本低、检测效率高、检测准确率高等诸多优点。(The invention discloses a dynamic liquid level measuring device for backward flowing water in an underwater semi-closed cavity, which is used for measuring the liquid level in an launching tube of an underwater launching platform such as a submarine and the like, and comprises a magnetic floater (1) and a magnetic induction sensor (2), wherein the magnetic floater (1) is arranged on the inner side of the launching tube (3), the magnetic induction sensor (2) is fixed on the outer side of the launching tube (3), the rising of the water level of the launching tube drives the magnetic floater in the magnetic floater structure to float, and then the magnetic induction sensor on the outer wall of the launching tube is triggered, so that the aim of monitoring the transient state of the seawater level in the launching tube is fulfilled. The device for measuring the flow dynamic liquid level of the poured water in the underwater semi-closed cavity has the advantages of simple structure, low cost, high detection efficiency, high detection accuracy and the like.)

1. A dynamic liquid level measuring device for flowing backward in an underwater semi-closed cavity is characterized by comprising a magnetic floater (1) and a magnetic induction sensor (2),

the magnetic floater (1) is arranged on the inner side of the launching tube (3), and the magnetic induction sensor (2) is fixed on the outer side of the launching tube (3).

2. The dynamic liquid level measuring device for the flowing water in the reverse direction of the underwater semi-closed cavity as claimed in claim 1,

be provided with float case (4) on launching tube (3) inner wall, float case (4) are inside and outside bilayer structure, including inlayer box (41) and outer box (42), and outer box (42) cladding forms the passageway in the outside of inlayer box (41) between inlayer box (41) and outer box (42), the magnetism float (1) is arranged in inlayer box (41).

3. The dynamic liquid level measuring device for the flowing water in the reverse direction of the underwater semi-closed cavity as claimed in claim 1,

the lower part of the inner-layer box body (41) is provided with an inner-layer flow guide hole (411), the upper part of the side surface of the outer-layer box body (42) is provided with an outer-layer flow guide hole (421), the top ends of the inner-layer box body (41) and the outer-layer box body (42) are provided with an upper flow guide hole (422), when the missile is not launched, the magnetic float (1) falls on the bottom of the inner-layer box body (41) under the action of gravity, and the top end of the inner-layer flow guide hole (411) is higher than the top end of the magnetic float (1).

4. The dynamic liquid level measuring device for the flowing water in the reverse direction of the underwater semi-closed cavity as claimed in claim 1,

the magnetic induction sensor (2) is fixed at the position corresponding to the floater box (4) outside the launching tube (3), so that the magnetic floater (1) can be detected by the magnetic induction sensor (2) in the floating process or after floating.

5. The dynamic liquid level measuring device for the flowing water in the underwater semi-closed cavity according to any one of claims 2 to 4,

the magnetic induction sensors (2) are provided with a plurality of sensors and are arranged at different heights of the launching tube (3).

6. The dynamic liquid level measuring device for the flowing water in the underwater semi-closed cavity according to any one of claims 2 to 4,

the launching tube is internally provided with a plurality of missile adapters (5), the float boxes (4) are provided with a plurality of float boxes, and the float boxes (4) are respectively arranged below different missile adapters (5).

7. The dynamic liquid level measuring device for the flowing water in the underwater semi-closed cavity according to any one of claims 2 to 4,

the quantity of float case (4) is the same and the one-to-one with magnetic induction sensor (2) quantity, and magnetic induction sensor (2) set up in float case (4) upper portion corresponding position for fill water back in float case (4), magnetism float (1) can continuously be detected by magnetic induction sensor (2).

8. The dynamic liquid level measuring device for the flowing water in the underwater semi-closed cavity according to any one of claims 2 to 4,

be provided with sensor guide rail (6) on the outer wall of launching tube (3), magnetic induction sensor (2) are fixed on sensor guide rail (6).

9. The dynamic liquid level measuring device for the flowing water in the reverse direction of the underwater semi-closed cavity as claimed in claim 8,

the sensor is characterized in that a sensing protective shell (61) is arranged on the sensor guide rail (6), and the sensing protective shell (61) wraps the magnetic induction sensor (2) or wraps the sensor guide rail (6) and the magnetic induction sensor (2) outside.

10. A dynamic liquid level measurement method for flowing backward water in an underwater semi-closed cavity is preferably carried out by the device of any one of claims 1 to 9, and is characterized by comprising the following steps:

s1, pouring water into the cavity and then flowing into the float box;

s2, floating a magnetic floater in the floater box to trigger the magnetic induction sensor;

and S3, determining the liquid level according to the position of the magnetic induction sensor.

Technical Field

The invention relates to a dynamic liquid level measuring device and a dynamic liquid level measuring method for backward flowing water in an underwater semi-closed cavity, and belongs to the technical field of underwater launching.

Background

After launching a missile by an underwater launching platform such as a submarine, the missile needs to rapidly drive away from an operation area so as to improve the survival probability of the submarine. After the missile is launched by the launching platform, seawater flows backwards under the action of the pressure difference between the launching canister and the surrounding environment and enters the launching canister. After the launching is finished, the seawater in the launching tube cannot be discharged immediately, because the submarine and the like lose part of weight after the missile is launched, the balance state of the submarine is broken, and the seawater flowing into the launching tube can make up for part of the lost weight, so that the underwater attitude of the submarine is maintained.

In actual operation, the amount of seawater filled into the launch canister is different when the submarine is most favorably maintained in a balanced state, the seawater is most favorably filled in a part, the part is filled to a certain water level, and an operator cannot quickly monitor the volume of the seawater in the launch canister to accurately obtain the instantaneous liquid level in the launch canister.

The existing common technical means is an empirical method, wherein an operator estimates a time according to experience, generally, launching cylinders of different types have different sizes, seawater is completely poured into the launching cylinders at different times, and the empirical method has larger errors.

The conventional liquid level measuring methods comprise ultrasonic measurement, microwave principle measurement, static pressure measurement and the like, and the methods have good measuring accuracy in a certain application scene, but have great limitation in an underwater launching device of a submarine and cannot be applied. The invention provides a dynamic liquid level measuring device for the reverse flow of an underwater semi-closed cavity by integrating a floating ball type detection mode and a magnetic induction principle, and realizes the real-time monitoring of the seawater liquid level in a launch canister.

Therefore, there is a need to design a dynamic liquid level measuring device for reverse flow of water in an underwater semi-closed cavity to solve the above problems.

Disclosure of Invention

Specifically, the present invention aims to provide the following:

on one hand, the invention provides a dynamic liquid level measuring device for flowing backward water in an underwater semi-closed cavity, which comprises a magnetic floater 1 and a magnetic induction sensor 2,

the magnetic float 1 is arranged on the inner side of the launching tube 3, and the magnetic induction sensor 2 is fixed on the outer side of the launching tube 3.

In a preferred embodiment, a float box 4 is arranged on the inner wall of the launch canister 3, the float box 4 is of an inner-outer double-layer structure and comprises an inner-layer box body 41 and an outer-layer box body 42, the outer-layer box body 42 covers the outer side of the inner-layer box body 41, a channel is formed between the inner-layer box body 41 and the outer-layer box body 42, and the magnetic float 1 is arranged in the inner-layer box body 41.

Further, an inner layer flow guide hole 411 is formed in the lower portion of the inner layer box body 41, an outer layer flow guide hole 421 is formed in the upper portion of the side face of the outer layer box body 42, an upper flow guide hole 422 is formed in the top ends of the inner layer box body 41 and the outer layer box body 42, when the missile is not launched, the magnetic float 1 falls to the bottom of the inner layer box body 41 under the action of gravity, and the top end of the inner layer flow guide hole 411 is higher than the top end of the magnetic float 1.

In a preferred embodiment, the magnetic induction sensor 2 is fixed outside the launch canister 3 at a position corresponding to the float box 4, so that the magnetic float 1 can be detected by the magnetic induction sensor 2 during or after floating.

In a preferred embodiment, the magnetic induction sensors 2 are provided in plurality and are arranged at different heights of the launch canister 3.

In a preferred embodiment, a plurality of missile adapters 5 are arranged in the launcher, the float box 4 is provided with a plurality of float boxes 4, and the plurality of float boxes 4 are respectively arranged below different missile adapters 5.

In a preferred embodiment, the number of the float tanks 4 is the same as that of the magnetic induction sensors 2, and the magnetic induction sensors 2 are arranged at corresponding positions on the upper portions of the float tanks 4, so that the magnetic floats 1 can be continuously detected by the magnetic induction sensors 2 after the float tanks 4 are filled with water.

In a preferred embodiment, a sensor rail 6 is provided on the outer wall of the launch canister 3, and the magnetic induction sensor 2 is fixed to the sensor rail 6.

In a preferred embodiment, a sensing protective housing 61 is disposed on the sensor rail 6, and the sensing protective housing 61 covers the magnetic induction sensor 2, or covers the sensor rail 6 and the outside of the magnetic induction sensor 2.

On the other hand, the invention also provides a dynamic liquid level measurement method for the water flowing backwards in the underwater semi-closed cavity, which is preferably carried out by adopting the device and comprises the following processes:

s1, pouring water into the cavity and then flowing into the float box;

s2, floating a magnetic floater in the floater box to trigger the magnetic induction sensor;

and S3, determining the liquid level according to the position of the magnetic induction sensor.

The invention has the advantages that:

(1) the detection of the liquid level in the launching tube can be realized;

(2) the structure is simple, and the launching of the missile is not influenced;

(3) the detection accuracy is high, and the service life is long.

Drawings

FIG. 1 is a schematic structural diagram of an overall dynamic liquid level measuring device for backward flowing water in an underwater semi-closed cavity according to a preferred embodiment of the invention;

FIG. 2 is a schematic structural diagram of a float tank of a dynamic liquid level measuring device for backward flowing water in an underwater semi-closed cavity according to a preferred embodiment of the invention;

FIG. 3 is a schematic diagram showing a sensor guide rail structure of a dynamic liquid level measuring device for backward flowing water in an underwater semi-closed cavity according to a preferred embodiment of the invention;

FIG. 4 is a partial enlarged schematic structural view of a dynamic liquid level measuring device for backward flowing water in an underwater semi-closed cavity according to a preferred embodiment of the invention;

FIG. 5 is a cross-sectional view of a float tank of a dynamic level measuring device for reverse flow of water in an underwater semi-closed cavity according to a preferred embodiment of the invention;

FIG. 6 is a schematic diagram showing a magnetic floater structure of a dynamic liquid level measuring device for backward flowing water in an underwater semi-closed cavity according to a preferred embodiment of the invention;

FIG. 7 is a schematic structural diagram of a magnetic floater of a dynamic liquid level measuring device for backward flowing water in an underwater semi-closed cavity according to a preferred embodiment of the invention;

FIG. 8 shows a schematic view of the flowing direction of high-temperature and high-pressure fuel gas after missile launching of the underwater semi-closed cavity backward flowing water dynamic liquid level measuring device according to a preferred embodiment of the invention.

The reference numbers illustrate:

1-a magnetic float;

11-a magnet;

12-a guide boss;

13-a magnetic float body;

14-magnetic float end cap

2-a magnetic induction sensor;

3-a launch canister;

4-a float tank;

41-inner layer box body;

411-inner layer flow guide holes;

412-a guide groove;

42-outer box body;

421-outer layer flow guide holes;

422-upper diversion holes;

5-missile adapter;

6-a sensor rail;

61-a base;

62-sliding block.

Detailed Description

The invention is explained in more detail below with reference to the figures and examples. The features and advantages of the present invention will become more apparent from the description.

The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.

On one hand, the invention provides a dynamic liquid level measuring device for flowing backward in an underwater semi-closed cavity, which is used for measuring the liquid level in a launching tube of an underwater launching platform such as a submarine and the like, and comprises a magnetic float 1 and a magnetic induction sensor 2,

the magnetic float 1 is arranged on the inner side of the launching tube 3, and the magnetic induction sensor 2 is fixed on the outer side of the launching tube 3, as shown in fig. 1 and 4.

According to the invention, the magnetic float 1 can suspend on the water surface, and is provided with a magnet 11 therein, preferably, the magnet 11 is made of titanium alloy according to the magnetic coupling effect.

The titanium alloy has the advantages of high strength, good corrosion resistance, high heat resistance and the like, is more suitable for monitoring the liquid level change of a high-temperature and high-pressure environment in the launching tube compared with other materials, and ensures the service life and the stability of the device.

Further, magnetic induction sensor 2 is hall sensor, pours into the water back in the launching tube, and magnetism float 1 can come up, and magnetism float 1 is through magnetic induction sensor 2 time, and magnetic induction sensor 2 is triggered, output signal, and magnetic induction sensor 2 position is the liquid level in launching tube 3 this moment promptly, through looking over magnetic induction sensor 2's mounted position, can obtain the liquid level of launching tube 3 water-logging.

In a preferred embodiment, a float box 4 is arranged on the inner wall of the launching canister 3, the magnetic float 1 is arranged in the float box 4, and the position of the magnetic float 1 is limited by the float box 4, so that the magnetic float is prevented from influencing the launching of the missile.

Preferably, the float box 4 is of an inner-outer double-layer structure, and includes an inner-layer box 41 and an outer-layer box 42, the outer-layer box 42 covers the outer side of the inner-layer box 41, a channel is formed between the inner-layer box 41 and the outer-layer box 42, as shown in fig. 4 and 5, and the magnetic float 1 is placed in the inner-layer box 41.

Further, an inner layer flow guide hole 411 is formed in the lower portion of the inner layer box body 41, an outer layer flow guide hole 421 is formed in the upper portion of the side face of the outer layer box body 42, and an upper flow guide hole 422 is formed in the top ends of the inner layer box body 41 and the outer layer box body 42.

Further, when the missile is not launched, the magnetic float 1 falls on the bottom of the inner-layer box body 41 under the action of gravity, and the top end of the inner-layer diversion hole 411 is higher than the top end of the magnetic float 1 at the moment, as shown in fig. 8.

According to the invention, the design of the inner and outer double-layer box bodies and the design of the height of the inner layer flow guide hole 411 can prevent the magnetic float from moving under the action of high-pressure and high-temperature steam generated by the launching tube. Specifically, after the missile is launched, high-temperature and high-pressure gas in the launch canister gradually moves upwards along with the launch of the missile body, the gas initially enters the magnetic float box body 4 through the outer diversion holes 421, flows through a diversion channel formed by the inner box body and the outer box body wall surface, and enters the inner box body through the inner diversion holes 411, and because the top height of the inner diversion holes 411 is greater than the top height of the magnetic float 1, the high-temperature and high-pressure gas quickly surrounds the magnetic float 1 and is directly discharged from the upper diversion holes, the magnetic float cannot move upwards under the action of pressure difference, the influence of the magnetic float in the inner box body is avoided, and the phenomenon that the magnetic float floats upwards in advance is caused.

According to the invention, the design of the upper flow guide holes 422 is also convenient for discharging air in the inner box body 41 in the floating process of the magnetic float 1, so that the phenomenon that the air pressure obstructs the rising of the magnetic float 1 to cause the reduction of the measurement accuracy or the measurement delay is avoided.

Furthermore, the positions of the inner layer diversion holes 411 and the outer layer diversion holes 422 are designed, so that the magnetic float 1 can move upwards along the float box under the action of the buoyancy of the seawater only when the seawater poured into the bucket exceeds the positions of the outer layer diversion holes 422, and the measurement accuracy is ensured.

According to the invention, the bottom surface of the float box 4 is detachably fixed on the float box 4, in practical application, the bottom surface of the float box needs to be opened for maintenance such as drainage before launching, so that no water exists in the magnetic float box when the launching tube is launched next time. In addition, according to the actual effect of projectile body from the barrel seawater backward flow and the wall effect of the launching barrel, the seawater is firstly backward flowed to the bottom of the launching barrel in the central axis area of the launching barrel, and then is gradually filled upwards from the bottom until the launching barrel is filled with the seawater, and even under different cross flow speeds (the relative motion speeds of a submarine and the seawater), too large deviation can not occur, namely, in the seawater backward flow process, the splashing effect of water splash can not cause the seawater to be poured into the float box in advance, even if partial seawater is poured into in advance, the float can not be suspended to the triggering induction position, and the accuracy of the device measurement is ensured.

Preferably, the upper end surface of the inner tank 41 and the upper end surface of the outer tank 42 are the same end surface, which is called a float tank upper end cover 43, and the float tank upper end cover 43 is detachably fixed on the top end of the float tank.

In a preferred embodiment, the magnetic float 1 is cylindrical, as shown in fig. 6, the magnet 11 is located at the top end of the magnetic float 1, the guiding protrusion 12 is disposed on the cylindrical surface of the magnetic float 1, a vertically upward guiding groove 412 is disposed inside the inner-layer box 41, and the guiding groove 412 corresponds to the guiding protrusion 12, so that the guiding protrusion 12 can slide in the guiding groove 412, and further, only the magnetic float 1 can vertically move up and down, thereby ensuring that the magnetic float does not irregularly move in the transportation process and the projectile body discharging process, and causing liquid level misdetection.

In a preferred embodiment, the magnetic float 1 comprises a magnetic float end cover 14 and a magnetic float main body 13, the magnetic float end cover 14 covers the upper end of the magnetic float main body 13, a groove is formed at the top end of the magnetic float main body 13, and the magnet 11 is placed in the groove, as shown in fig. 7.

Preferably, the magnetic float end cover 14 is connected with the magnetic float main body 13 through a bolt.

In a more preferred embodiment, the float chamber 4 further has a chamber cover 42, and the chamber cover 42 is detachably fixed to the top end of the float chamber 4 to facilitate the placement of the magnetic float 1 in the float chamber 4, as shown in fig. 2.

More preferably, the bottom end of the float chamber 4 is also removable, so that the float chamber 4 is easy to manufacture and install.

In a preferred embodiment, the float chamber 4 is fixed to the inner wall of the launch barrel 3 by welding, bolts, or the like.

According to the invention, the magnetic induction sensor 2 is fixed at the position corresponding to the float box 4 outside the launching tube 3, so that the magnetic float 1 can be detected by the magnetic induction sensor 2 in the floating process or after floating.

In a preferred embodiment, the magnetic induction sensor 2 is fixed at a position corresponding to the water level in the launching tube when the missile is launched by the submarine and reaches a stress balance state, so that the submarine can be better operated.

In the invention, the method for acquiring the corresponding position of the water level in the launch canister in the state of the submarine stressed equilibrium is not particularly limited, and the method can be obtained by a person skilled in the art according to experiments or mathematical derivation.

In another preferred embodiment, the magnetic induction sensors 2 are provided in plurality and are arranged at different heights of the launch canister 3, and are sequentially triggered by the plurality of magnetic induction sensors 2, so that the instantaneous water level of the launch canister 3 can be obtained more accurately.

Further, there are a plurality of missile adapters 5 in the launcher, and preferably, the float box 4 has a plurality, a plurality of float boxes 4 are respectively provided below different missile adapters 5,

the missile adapter 5 is a common structure for improving the precision of the missile trajectory, and the specific structure of the missile adapter is not described in detail in the invention, and can be selected or improved by a person skilled in the art according to actual needs.

Further, the thickness of the float box 4 along the radial direction of the launching tube is smaller than the radial thickness of the missile adapter 5, so that the float box 4 is prevented from influencing the launching of the missile.

In a preferred embodiment, the number of the float boxes 4 is the same as the number of the magnetic induction sensors 2, and the magnetic induction sensors 2 are arranged at corresponding positions on the upper portions of the float boxes 4, so that after the float boxes 4 are filled with water, the magnetic floats 1 can be continuously detected by the magnetic induction sensors 2, and the phenomenon that the magnetic floats 1 are instantaneously jumped to be detected to cause liquid level misdetection due to vibration or other reasons is avoided.

In a preferred embodiment, a sensor rail 6 is provided on the outer wall of the launch canister 3, and the magnetic induction sensor 2 is fixed to the sensor rail 6.

Further preferably, sensor guide rail 6 passes through base 61 to be fixed on launching tube 3, avoids magnetic induction sensor 2 snap-on sensor guide rail 6, has avoided processing a plurality of screw holes at the launching tube, influences launching tube intensity.

In a preferred embodiment, the base 61 is annular and is fitted over the outer wall of the launch barrel 3 to increase the contact area between the base 61 and the launch barrel 3, as shown in fig. 3.

In the present invention, the fixing method of the sensor rail 6 and the base 61 and the fixing method of the base 61 and the launch tube 3 are not particularly limited, and may be welding, bolting, or the like.

Further preferably, a plurality of mounting holes are formed in the sensor guide rail 6, the magnetic induction sensor 2 is mounted on the sliding block 62, and the sliding block 62 is fixed to the mounting holes through bolts, so that the position of the magnetic induction sensor 2 can be conveniently adjusted, the debugging efficiency and the measurement accuracy are improved, and the device can adapt to submarines of different specifications.

According to a preferred embodiment of the invention, a sensing protective shell is arranged on the sensor guide rail 6, and the sensing protective shell wraps the magnetic induction sensor 2, or wraps the sensor guide rail 6 and the outer side of the magnetic induction sensor 2, so as to protect the magnetic induction sensor 2 and avoid measurement errors caused by damage or position movement of the magnetic induction sensor 2 in the submarine movement and missile launching processes.

In a preferred embodiment, the magnetic induction sensors 2 are divided into two rows, preferably, 5-6 magnetic induction sensors are arranged in each row, the axes of the launching tube 3 are taken as a symmetry axis, the magnetic induction sensors are symmetrically arranged on two sides of the launching tube 3, and the magnetic induction sensors 2 at corresponding positions on the two sides are verified mutually, so that the accuracy of measurement is guaranteed.

In another preferred embodiment, the magnetic induction sensors 2 are divided into two rows which are distributed at intervals on two sides of the launching tube 3, so that more accurate instantaneous liquid level height can be obtained.

On the other hand, the invention also provides a dynamic liquid level measurement method for the water flowing backwards in the underwater semi-closed cavity, which is preferably carried out by adopting the device and comprises the following stages:

s1, mounting the magnetic induction sensor on the outer wall of the launching tube, and mounting the float box on the inner wall of the launching tube;

s2, pouring water into the launch canister and entering the float box;

s3, floating a magnetic floater in the floater box to trigger the magnetic induction sensor;

and S4, determining the liquid level according to the position of the magnetic induction sensor.

Further, in stage S1, the mounting position of the magnetic induction sensor is recorded.

In a preferred embodiment, in the stage S1, the magnetic induction sensor is installed at a position corresponding to the water level in the launch canister when the submarine reaches a stress equilibrium state after launching the missile.

In a preferred embodiment, a plurality of magnetic induction sensors are installed on the outer wall of the launching barrel and are arranged at different heights of the launching barrel, and the instantaneous water level of the launching barrel is obtained more accurately by sequentially triggering the plurality of magnetic induction sensors.

Preferably, in the stage S1, the bottom surface of the float box is opened to check whether the magnetic float is damaged and whether there is water stored in the float box, and if there is water stored, the water is discharged.

Preferably, in the stage S1, before and during the missile is ejected out of the canister, the sensor is in a power-off state; after the missile is taken out of the barrel, the power supply of the sensor is switched on, and the sensor starts to work, so that the phenomenon that the magnetic induction sensor is triggered in advance is avoided.

Preferably, in the step S2, the high-temperature and high-pressure gas generated by the missile launch gradually moves upwards along with the outgoing tube of the missile body, and initially enters the magnetic float box body through the outer diversion hole, flows through the diversion channel formed by the inner box body and the outer box body wall surface, and enters the inner box body through the inner diversion hole.

Preferably, in the stage S2, water enters the float tank inner layer box body from the float tank outer layer diversion hole and the float tank inner layer diversion hole in sequence, so that the magnetic float located in the float tank inner layer box body floats upwards.

Preferably, in the stage S3, the magnetic induction sensor is disposed at a corresponding position on the top end of the float box, so that the magnetic float floats to the top end of the float box before triggering the magnetic induction sensor, and the magnetic induction sensor continuously generates a signal because the magnetic float is kept at the top end of the float box.

In stage S4, the magnetic induction sensor mounting position stored in advance is checked to obtain the liquid level of the water in the launch canister.

Preferably, in the stage S4, when there are multiple magnetic induction sensors, a water level curve in the launch canister may be made according to the distance between the magnetic induction sensors and the time when the multiple magnetic induction sensors generate signals, so as to predict the time when the submarine reaches the force balance state.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front", "rear", and the like indicate orientations or positional relationships based on operational states of the present invention, and are only used for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and "fourth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise specifically stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; the connection may be direct or indirect via an intermediate medium, and may be a communication between the two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The present invention has been described above in connection with preferred embodiments, but these embodiments are merely exemplary and merely illustrative. On the basis of the above, the invention can be subjected to various substitutions and modifications, and the substitutions and the modifications are all within the protection scope of the invention.