CN109264009A - A kind of photosensitive combined type enters water detection device - Google Patents
A kind of photosensitive combined type enters water detection device Download PDFInfo
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- CN109264009A CN109264009A CN201811393828.2A CN201811393828A CN109264009A CN 109264009 A CN109264009 A CN 109264009A CN 201811393828 A CN201811393828 A CN 201811393828A CN 109264009 A CN109264009 A CN 109264009A
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- 238000001514 detection method Methods 0.000 title claims abstract description 83
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 83
- 239000000523 sample Substances 0.000 claims abstract description 34
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 12
- 239000000463 material Substances 0.000 claims description 16
- 229920002492 poly(sulfone) Polymers 0.000 claims description 12
- PXHVJJICTQNCMI-UHFFFAOYSA-N Nickel Chemical compound [Ni] PXHVJJICTQNCMI-UHFFFAOYSA-N 0.000 claims description 6
- 239000007769 metal material Substances 0.000 claims description 5
- BASFCYQUMIYNBI-UHFFFAOYSA-N platinum Chemical compound [Pt] BASFCYQUMIYNBI-UHFFFAOYSA-N 0.000 claims description 4
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 3
- 239000002131 composite material Substances 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 3
- 229910052759 nickel Inorganic materials 0.000 claims description 3
- 230000000737 periodic effect Effects 0.000 claims description 3
- 239000004411 aluminium Substances 0.000 claims 1
- 229910052782 aluminium Inorganic materials 0.000 claims 1
- 239000002184 metal Substances 0.000 claims 1
- 229910052751 metal Inorganic materials 0.000 claims 1
- 229910052697 platinum Inorganic materials 0.000 claims 1
- 238000009738 saturating Methods 0.000 claims 1
- 238000000034 method Methods 0.000 description 9
- 238000003912 environmental pollution Methods 0.000 description 3
- 238000007689 inspection Methods 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 239000007787 solid Substances 0.000 description 3
- 238000005260 corrosion Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000013505 freshwater Substances 0.000 description 1
- 239000005457 ice water Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000000704 physical effect Effects 0.000 description 1
- 239000013535 sea water Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
- G01N21/31—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry
- G01N21/35—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry using infrared light
- G01N21/3577—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry using infrared light for analysing liquids, e.g. polluted water
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N27/00—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
- G01N27/02—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating impedance
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
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- Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Biochemistry (AREA)
- Pathology (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Spectroscopy & Molecular Physics (AREA)
- Analytical Chemistry (AREA)
- Immunology (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- Investigating Or Analysing Materials By Optical Means (AREA)
- Geophysics And Detection Of Objects (AREA)
Abstract
The invention proposes a kind of photosensitive combined types to enter water detection device, including infrared-emitting diode, phototriode, pedestal, optic probe, infrared Unidirectional transparent film, positive electrode, negative electrode, photosensitive detection circuit, conduction detection circuit and logical AND circuit.Photosensitive combined type proposed by the invention enters water detection device, detection is swift in response, circuit theory is simple, function is reliable, solves current helicopter floating system in practical applications, enter water caused by under the conditions of the natural environments such as icing or artificial maloperation and detects false triggering phenomenon, and enters in natural strong light environment and do not trigger phenomenon caused by water, therefore reliability is preferable, specific aim is stronger, it can be widely popularized utilization in many types of helicopter and sea rescue raft multiple fields, there is larger practical value.
Description
Technical field
The present invention relates to sensor fields, and in particular to a kind of photosensitive combined type enters water detection device.
Background technique
Photosensitive combined type enters water detection device, for judging whether helicopter hits the drink from the air in automatic mode,
And relevant on-off model is provided, the input as airborne floating system inflating expanded floating system air bag after aircraft enters water
Amount, working media are air and water (comprising seawater and rivers, lake fresh water medium).
Water and air are all very different in all multi-parameters, just may be implemented there are many method according to these parameter differences
Enter water detection, such as conductance method, thermal conductivity method, buoyancy method, supercritical ultrasonics technology, pressure differential method, capacitance method, photosensitive method etc., but because being gone straight up to
There are the false triggerings such as artificial or environmental pollution in machine external environment influence, the above method, and under ice-formation condition false triggering and
The disadvantages of strong light environment condition tripping in water does not trigger, it is reliable in daily maintenance and use to reduce helicopter floating system
Property.
Summary of the invention
Goal of the invention
In order to overcome artificial, environmental pollution and factor of natural environment existing for prior art approach to influence, the present invention is provided
A kind of photosensitive combined type enters water detection device, can effectively solve helicopter floating system enter it is artificial existing for water detection device
Or the false triggerings problem such as environmental pollution, and the false triggering and in intense light conditions tripping in water not Trigger Problems under ice-formation condition.
Technical solution
The present invention provides a kind of photosensitive combined types to enter water detection device, including infrared-emitting diode 1, phototriode
2, pedestal 3, optic probe 4, infrared Unidirectional transparent film 5, positive electrode 6, negative electrode 7, photosensitive detection circuit 8, conduction detection circuit 9
With logical AND circuit 10；
Lightening hole and receiver hole are provided on pedestal, infrared-emitting diode is fixed in lightening hole, and phototriode 2 is solid
It is scheduled in receiver hole；And it is coated with polysulfone material in the aperture of lightening hole and receiver hole, polysulfone material, which is formed, has optics interface
Optic probe, be covered with infrared Unidirectional transparent film in the optics interface of polysulfone material；
Infrared-emitting diode is as transmitting light source, and using the infrared light supply of non-visible light wave band, phototriode is used for
Receive infrared light supply；
When in optic probe air, the infrared light issued from lightening hole is totally reflected to receiver hole by optics interface
In, when optic probe is placed in water, it is reflected into receiver hole from the infrared light issued in lightening hole by optics Interface portion,
Part refracts through infrared Unidirectional transparent film；
Photosensitive detection circuit 8 is connect with infrared-emitting diode 1 and 2 points of phototriode, for providing filter power supply, hair
It penetrates light source driving and receives light signal collection, when the phototriode of infrared light total reflection to receiver hole, the photosensitive inspection
Slowdown monitoring circuit will not send water to logical AND circuit 10 and detect signal, when infrared light is reflected to the phototriode of receiver hole
When, the photosensitive detection circuit can send water to logical AND circuit 10 and detect signal；
Conduction detection circuit 9 is that electrode enters water conduction detection circuit, and positive and negative electrode is respectively as conduction detection circuit 9
Detecting electrode, when positive and negative electrode is in air, since air conductivity is minimum, conduction detection circuit 9 will not be connected, and
After electrode is immersed in the water, since water has certain conductivity, conduction detection circuit can be switched on, can be to logical AND after connection
Circuit 10 sends water and detects signal；
Logical AND circuit 10 is that logical "and" judges output circuit, when photosensitive detection circuit and conduction detection circuit are sent
After water detects signal to logical AND circuit, logical AND circuit can send out Water Exit instruction to aircraft floating system.
Further, the logical AND circuit is periodic circuit, understands the carry out logic judgment in period, and is being continuously available light
Quick detection circuit and conduction detection circuit send water detection signal judgement structure after, can just be issued to aircraft floating system into
Water instruction.
Further, the optic probe is taper, and cone angle is 90 °.
Further, the infrared Unidirectional transparent film uses high transparency PET composite material, overlays the conical surface in optic probe
On, the infrared light in the external world 90% can be stopped to enter optic probe, avoided under strong light natural environmental condition, when optic probe soaks
After entering water, the infrared light in extraneous strong light is refracted into optic probe, so as to cause error signal is caused.
Further, pedestal is metallic aluminum material.
Further, positive electrode uses platinum metal material, and negative electrode uses nickel metal material, and stable physical property is resistance to
Corrosive power is strong.
Present invention aim to address helicopter floating systems to enter water detection device in practical applications because of extraneous natural ring
Border condition and the false triggering that generates and enter water not Trigger Problems, therefore just by false triggering and enters water below Trigger Problems are not separated
Illustrate:
When helicopter floating system enters under the conditions of water detection device is in natural environments or the artificial maloperation such as freeze, and it is real
When border does not enter water, optic probe 4 is immersed in ice water environment, and the infrared light that infrared emission diode 1 issues is rolled over by ice interface
Penetrate, may result in circuit 8 export it is photosensitive detect into taps signal, positive electrode 6 and negative electrode 7 are because of ice conductivity in another way
It is lower, circuit 9 will not output electrode conduction detection enter taps signal, cause circuit 10 not export after logical "and" judges
Switching value enters water instruction, avoids result in the inflation false triggering work of helicopter floating system air bag.
When helicopter in automatic mode, when crashing into the water surface and needing floating system air bag inflating expanded, if at optic probe 4
In extraneous natural strong light environment, although the infrared light that infrared-emitting diode 1 issues can be largely refracted to through water termination
In water, but in the case where no infrared Unidirectional transparent film 5, the infrared light in extraneous naturally strong light also can be by phototriode
3 enough receptions, so as to cause circuit 1 will not export it is photosensitive detect into taps signal, cause helicopter floating system air bag not have
There is triggering.But when 4 surface of optic probe has overlayed infrared Unidirectional transparent film 5, the infrared light in extraneous naturally strong light is not
Optic probe can be entered, it is ensured that circuit 8 export it is photosensitive detect into taps signal, and circuit 9 is because of positive electrode 6 and negative electrode
7 immerse the higher water of conductivity in and output electrode conduction detection enters taps signal, last circuit 10 judges through logical "and"
Afterwards, output switching value enters water instruction, ensure that offence of the helicopter floating system air bag in extraneous natural strong light environment and fills
Gas expansion.
Technical effect
Photosensitive combined type proposed by the invention enters water detection device, detection is swift in response, circuit theory is simple, function can
It leans on, solves current helicopter floating system in practical applications, in natural environments or artificial maloperation under the conditions of institutes such as icings
What is generated enters water detection false triggering phenomenon, and enters in natural strong light environment and do not trigger phenomenon caused by water, therefore is reliable
Property it is preferable, specific aim is stronger, utilization can be widely popularized in many types of helicopter and sea rescue raft multiple fields, have
There is larger practical value.
Detailed description of the invention
Fig. 1 is principle schematic diagram of the invention；
Wherein: 1- infrared-emitting diode, 2- phototriode, 3- pedestal, 4- optic probe, the infrared Unidirectional transparent of 5-
Film, 6- positive electrode, 7- negative electrode, 8-PCB1 circuit board, 9-PCB2 circuit board, 10-PCB3 circuit board.
Specific embodiment
For a better understanding of the present invention, technical solution of the present invention is further retouched below by drawings and examples
It states.
Embodiment 1 provides a kind of photosensitive combined type and enters water detection device referring to Fig. 1, including infrared-emitting diode 1,
Phototriode 2, optic probe 4, infrared Unidirectional transparent film 5, positive electrode 6, negative electrode 7, photosensitive detection circuit 8, is led at pedestal 3
Logical detection circuit 9 and logical AND circuit 10；
Lightening hole and receiver hole are provided on pedestal, infrared-emitting diode is fixed in lightening hole, and phototriode 2 is solid
It is scheduled in receiver hole；And it is coated with polysulfone material in the aperture of lightening hole and receiver hole, polysulfone material, which is formed, has optics interface
Optic probe, be covered with infrared Unidirectional transparent film in the optics interface of polysulfone material；
Infrared-emitting diode is as transmitting light source, and using the infrared light supply of non-visible light wave band, phototriode is used for
Receive infrared light supply；
When in optic probe air, the infrared light issued from lightening hole is totally reflected to receiver hole by optics interface
In, when optic probe is placed in water, it is reflected into receiver hole from the infrared light issued in lightening hole by optics Interface portion,
Part refracts through infrared Unidirectional transparent film；
Photosensitive detection circuit 8 is connect with infrared-emitting diode 1 and 2 points of phototriode, for providing filter power supply, hair
It penetrates light source driving and receives light signal collection, when the phototriode of infrared light total reflection to receiver hole, the photosensitive inspection
Slowdown monitoring circuit will not send water to logical AND circuit 10 and detect signal, when infrared light is reflected to the phototriode of receiver hole
When, the photosensitive detection circuit can send water to logical AND circuit 10 and detect signal；
Conduction detection circuit 9 is that electrode enters water conduction detection circuit, and positive and negative electrode is respectively as conduction detection circuit 9
Detecting electrode, when positive and negative electrode is in air, since air conductivity is minimum, conduction detection circuit 9 will not be connected, and
After electrode is immersed in the water, since water has certain conductivity, conduction detection circuit can be switched on, can be to logical AND after connection
Circuit 10 sends water and detects signal；
Logical AND circuit 10 is that logical "and" judges output circuit, when photosensitive detection circuit and conduction detection circuit are sent
After water detects signal to logical AND circuit, logical AND circuit can send out Water Exit instruction to aircraft floating system.
Embodiment 2 provides a kind of photosensitive combined type and enters water detection device, including infrared-emitting diode 1, photosensitive three pole
Pipe 2, pedestal 3, optic probe 4, infrared Unidirectional transparent film 5, positive electrode 6, negative electrode 7, photosensitive detection circuit 8, conduction detection electricity
Road 9 and logical AND circuit 10；
Lightening hole and receiver hole are provided on pedestal, infrared-emitting diode is fixed in lightening hole, and phototriode 2 is solid
It is scheduled in receiver hole；And it is coated with polysulfone material in the aperture of lightening hole and receiver hole, polysulfone material, which is formed, has optics interface
Optic probe, be covered with infrared Unidirectional transparent film in the optics interface of polysulfone material；
Infrared-emitting diode is as transmitting light source, and using the infrared light supply of non-visible light wave band, phototriode is used for
Receive infrared light supply；
When in optic probe air, the infrared light issued from lightening hole is totally reflected to receiver hole by optics interface
In, when optic probe is placed in water, it is reflected into receiver hole from the infrared light issued in lightening hole by optics Interface portion,
Part refracts through infrared Unidirectional transparent film；
Photosensitive detection circuit 8 is connect with infrared-emitting diode 1 and 2 points of phototriode, for providing filter power supply, hair
It penetrates light source driving and receives light signal collection, when the phototriode of infrared light total reflection to receiver hole, the photosensitive inspection
Slowdown monitoring circuit will not send water to logical AND circuit 10 and detect signal, when infrared light is reflected to the phototriode of receiver hole
When, the photosensitive detection circuit can send water to logical AND circuit 10 and detect signal；
Conduction detection circuit 9 is that electrode enters water conduction detection circuit, and positive and negative electrode is respectively as conduction detection circuit 9
Detecting electrode, when positive and negative electrode is in air, since air conductivity is minimum, conduction detection circuit 9 will not be connected, and
After electrode is immersed in the water, since water has certain conductivity, conduction detection circuit can be switched on, can be to logical AND after connection
Circuit 10 sends water and detects signal；
Logical AND circuit 10 is that logical "and" judges output circuit, when photosensitive detection circuit and conduction detection circuit are sent
After water detects signal to logical AND circuit, logical AND circuit can send out Water Exit instruction to aircraft floating system；
The logical AND circuit is periodic circuit, understands the carry out logic judgment in period, and be continuously available photosensitive detection electricity
After road and conduction detection circuit send the judgement structure of water detection signal, Water Exit instruction can be just sent out to aircraft floating system；
The optic probe is taper, and cone angle is 90 °；The infrared Unidirectional transparent film uses high transparency PET composite material,
Overlay on the conical surface of optic probe, can guarantee the external world 90% infrared light enter optic probe, avoid in strong light nature ring
Under the conditions of border, after optic probe immerses water, the infrared light in extraneous strong light is refracted into optic probe, so as to cause causing
Error signal；Pedestal is metallic aluminum material；Positive electrode uses platinum metal material, and negative electrode uses nickel metal material, physical
It can stablize, corrosion resistance is strong.
Claims (6)
1. a kind of photosensitive combined type enters water detection device, including infrared-emitting diode, phototriode, pedestal, optic probe,
Infrared Unidirectional transparent film, positive electrode, negative electrode, photosensitive detection circuit, conduction detection circuit and logical AND circuit；
Lightening hole and receiver hole are provided on pedestal, infrared-emitting diode is fixed in lightening hole, and phototriode is fixed on
In receiver hole；And it is coated with polysulfone material in the aperture of lightening hole and receiver hole, polysulfone material forms the light with optics interface
Probe is learned, is covered with infrared Unidirectional transparent film in the optics interface of polysulfone material；
Infrared-emitting diode is as transmitting light source, and using the infrared light supply of non-visible light wave band, phototriode is for receiving
Infrared light supply；
When in optic probe air, it is totally reflected in receiver hole from the infrared light issued in lightening hole by optics interface, when
When optic probe is placed in water, it is reflected into receiver hole from the infrared light issued in lightening hole by optics Interface portion, part
Refract through infrared Unidirectional transparent film；
Photosensitive detection circuit is connect with infrared-emitting diode and phototriode point, for providing filter power supply, transmitting light source
Driving and reception light signal collection, when the phototriode of infrared light total reflection to receiver hole, the photosensitive detection circuit
Water will not be sent to logical AND circuit detect signal, when infrared light is reflected to the phototriode of receiver hole, the light
Quick detection circuit can send water to logical AND circuit and detect signal；
Conduction detection circuit is that electrode enters water conduction detection circuit, detection electricity of the positive and negative electrode respectively as conduction detection circuit
Pole, when positive and negative electrode is in air, since air conductivity is minimum, conduction detection circuit will not be connected, and when electrode soaks
After entering in water, since water has certain conductivity, conduction detection circuit can be switched on, and can be sent to logical AND circuit after connection
Water detects signal；
Logical AND circuit is that logical "and" judges output circuit, when photosensitive detection circuit and conduction detection circuit send water detection
After signal to logical AND circuit, logical AND circuit can send out Water Exit instruction to aircraft floating system.
2. a kind of photosensitive combined type according to claim 1 enters water detection device, it is characterised in that: the logical AND circuit
For periodic circuit, can the period carry out logic judgment, and be continuously available photosensitive detection circuit and conduction detection circuit is sent
After water detects the judgement structure of signal, Water Exit instruction can be just sent out to aircraft floating system.
3. a kind of photosensitive combined type according to claim 1 enters water detection device, it is characterised in that: the optic probe is
Taper, cone angle are 90 °.
4. a kind of photosensitive combined type according to claim 4 enters water detection device, it is characterised in that: described infrared unidirectional saturating
Light film uses high transparency PET composite material, overlays on the conical surface of optic probe.
5. a kind of photosensitive combined type according to claim 1 enters water detection device, it is characterised in that: pedestal is metal aluminium
Material.
6. a kind of photosensitive combined type according to claim 1 enters water detection device, it is characterised in that: positive electrode uses platinum
Belong to material, negative electrode uses nickel metal material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811393828.2A CN109264009B (en) | 2018-11-21 | 2018-11-21 | Photosensitive combined type water inlet detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811393828.2A CN109264009B (en) | 2018-11-21 | 2018-11-21 | Photosensitive combined type water inlet detection device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109264009A true CN109264009A (en) | 2019-01-25 |
| CN109264009B CN109264009B (en) | 2023-10-20 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811393828.2A Active CN109264009B (en) | 2018-11-21 | 2018-11-21 | Photosensitive combined type water inlet detection device |
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| Country | Link |
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| CN (1) | CN109264009B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112173130A (en) * | 2020-09-25 | 2021-01-05 | 中国直升机设计研究所 | Emergency floating control device and method for civil helicopter |
| CN112975995A (en) * | 2019-12-17 | 2021-06-18 | 沈阳新松机器人自动化股份有限公司 | Service robot chassis anti-falling array device and anti-falling method |
| CN113759436A (en) * | 2021-08-30 | 2021-12-07 | 航宇救生装备有限公司 | Take income water detection sensor of self-heating function |
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| US20020039186A1 (en) * | 2000-03-10 | 2002-04-04 | Rosenberg Charles W. Von | Optical probes and methods for spectral analysis |
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| US20020039186A1 (en) * | 2000-03-10 | 2002-04-04 | Rosenberg Charles W. Von | Optical probes and methods for spectral analysis |
| CN1715890A (en) * | 2004-06-30 | 2006-01-04 | Aju高技术公司 | Light emitting device,automatic optical detecting system and method for detecting PCB pattern |
| CN104181129A (en) * | 2014-08-25 | 2014-12-03 | 西安近代化学研究所 | Longitudinal multi-optical-path multi-waveband measuring device for optical transmittance of solid propellant smog |
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| CN112975995A (en) * | 2019-12-17 | 2021-06-18 | 沈阳新松机器人自动化股份有限公司 | Service robot chassis anti-falling array device and anti-falling method |
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| CN113759436B (en) * | 2021-08-30 | 2023-10-24 | 航宇救生装备有限公司 | Water inlet detection sensor with self-heating function |
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| Publication number | Publication date |
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| CN109264009B (en) | 2023-10-20 |
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