CN108549374A - It is a kind of that there is the portable smart water quality of positioning and distant control function to detect ship - Google Patents
It is a kind of that there is the portable smart water quality of positioning and distant control function to detect ship Download PDFInfo
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- CN108549374A CN108549374A CN201810336989.1A CN201810336989A CN108549374A CN 108549374 A CN108549374 A CN 108549374A CN 201810336989 A CN201810336989 A CN 201810336989A CN 108549374 A CN108549374 A CN 108549374A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/18—Water
Abstract
The invention discloses a kind of there is the portable smart water quality of positioning and distant control function to detect ship,It is related to field of water quality detection,Including hull,SCM system,Turbidity transducer,Infrared obstacle avoidance module,Locating module,Wireless communication module,Liquid crystal display,Motor drive module,Two driving motors and two screw propellers,SCM system is separately connected turbidity transducer,Infrared obstacle avoidance module,Locating module,Wireless communication module,Liquid crystal display and motor drive module,Wireless communication module is established wireless telecommunications with control terminal and is connect,Motor drive module connects and drives two driving motors,The drive shaft of each driving motor is separately connected and controls a screw propeller,The water quality detection ship is controlled based on SCM system,In conjunction with location technology,Wireless communication technique,Infrared obstacle avoidance technology and Turbidity measurement technology,It can be used with remote control,Realize positioning and real-time Data Transmission,It is portable small and exquisite,Working environment is various.
Description
Technical field
The present invention relates to field of water quality detection, especially a kind of to have the inspection of the portable smart water quality of positioning and distant control function
Survey ship.
Background technology
Nearly several centuries come, and scientific and technical rapid development also causes environment while facilitating people's life
Damage difficult to the appraisal, and then people’s lives quality is influenced, wherein the problem of water pollution, is especially prominent, therefore water quality detection
Also it has been to be concerned by more and more people.
Mainly by being sent to laboratory measurement after water quality sampling, current water quality sampling method is main for current water quality detection
There are two types of：One is artificial sample, another kind is sampling boat sampling.The mode of artificial sample needs a large amount of manpower and materials, and
And under conditions of danger, it can not complete to detect, this mode is time-consuming, laborious, inefficiency, sample frequency are low and sampling quality
It is difficult to ensure.Sampling boat is although full-featured, but expensive, needs the operation and maintenance of a large amount of professionals, in addition at present
Sampling boat be typically large vessel, limitation is larger, and also very big to the water surface agitation when starting, and influences the authenticity of water sample.
Invention content
The present inventor is regarding to the issue above and technical need, it is proposed that a kind of portable intelligence with positioning and distant control function
Can water quality detection ship, which is based on SCM system control, in conjunction with GPS positioning technology, wireless communication technique, infrared
Avoidance technology and Turbidity measurement technology can be used with remote control, realize positioning and real-time Data Transmission, and portable, small and exquisite, real
Strong with property, working environment is various.
Technical scheme is as follows：
A kind of that there is the portable smart water quality of positioning and distant control function to detect ship, which includes hull, list
Piece machine system, turbidity transducer, infrared obstacle avoidance module, locating module, wireless communication module, liquid crystal display, motor drive mould
Block, two driving motors and two screw propellers；
SCM system is separately connected turbidity transducer, infrared obstacle avoidance module, locating module, wireless communication module, liquid crystal
Display screen and motor drive module, turbidity transducer are arranged in water body to be measured and are contacted with water body；In infrared obstacle avoidance module
Including infrared transmitting tube and infrared receiving tube, infrared transmitting tube is used for receiving infrared-ray for emitting infrared ray, infrared receiving tube,
Infrared obstacle avoidance module is arranged in the fore position of hull and towards the direction of advance of hull；It is SCM system, locating module, wireless
Communication module, liquid crystal display, motor drive module and two driving motors are arranged on hull, and locating module includes pottery
Porcelain antenna and ceramic antenna is set up, wireless communication module is established wireless telecommunications with control terminal and is connect, motor drive module
Connecting and drive two driving motors, the drive shaft of each driving motor is separately connected and controls a screw propeller, and two
A screw propeller is arranged in hull bottom and is separately positioned on hull both sides；
SCM system is used to receive the control instruction that control terminal is sent by wireless communication module, and is referred to according to control
It enables and movement instruction is sent to motor drive module after generating movement instruction, motor drive module according to movement instruction for driving
Two driving motors drive two screw propeller work, to drive ship motion, SCM system to be additionally operable to passing through
Infrared obstacle avoidance module, which detects, to be generated avoidance instruction and avoidance instruction is sent to motor drive module, motor driving when barrier
Module is used to drive two screw propeller work according to two driving motors of avoidance order-driven, to drive hull to transport
It is dynamic；In the traveling process of water quality detection ship, SCM system is used to obtain location information by locating module, be passed by turbidity
Sensor acquires the turbidity data of water body to be measured and location information and turbidity data is sent to liquid crystal display, liquid crystal display
For carrying out coding display to location information and turbidity data, SCM system is additionally operable to position through wireless communication module screen
Confidence ceases and turbidity data is sent to control terminal.
Its further technical solution is that SCM system includes the microcontroller of model STC12C5A60S2, microcontroller
After the VCC foot connection+5V power supplys of system, GND feet ground connection, the first direct-to-ground capacitance and the series connection of the second direct-to-ground capacitance simultaneously with circuit crystal oscillator
Connection forms oscillating circuit, and oscillating circuit is connected between 18 feet of SCM system and 19 feet, the first direct-to-ground capacitance and second pair
The common end grounding of ground capacitance；Third capacitance is connected with resistance over the ground, one end connection+5V power supplys, the other end of the series circuit
Ground connection, 31 feet that third capacitance connect SCM system with the common end to ground resistance form reset circuit；
The VCC foot connection+5V power supplys of turbidity transducer, GND feet ground connection, analog output pin AO feet connection microcontroller system
1 foot of system；
The VCC foot connection+5V power supplys of infrared obstacle avoidance module, GND feet ground connection, output pin VOUT feet connect SCM system
17 feet；
VCC foot connection+5V power supplys, GND feet ground connection, the module serial ports of locating module send pin TX feet connection microcontroller system
3 feet, the module serial ports of system receive 4 feet of pin RX feet connection SCM system；
Wireless communication module be HC-05 bluetooth serial ports communication modules, HC-05 bluetooth serial ports communication modules VCC feet connection+
5V power supplys, GND feet ground connection, EN feet and STATE feet are hanging, module serial ports send pin TXD feet connect SCM system 10 feet,
Module serial ports receives 11 feet of pin RXD feet connection SCM system；
Liquid crystal display is LCD1602 liquid crystal displays, and I/O mouthfuls of DB0-DB7 feet difference of data of liquid crystal display are successively
Connect the 21-28 feet of SCM system, data-/ command selection end RS feet connection SCM system 32 foot of liquid crystal display, read/
Write 33 foot of selection end WR feet connection SCM system, Enable Pin E feet connection 34 foot of SCM system；
Motor drive module is L298N motor drive modules, and Vss foot connection+5V power supplys, the Vs feet of motor drive module connect
+ 7.8V power supplys, GND feet ground connection, 5 feet of input anode INA+ feet connection SCM system, input cathode INA- feet connect microcontroller
6 feet of system, 7 feet of input anode INB+ feet connection SCM system, the 8 of input cathode INB- feet connection SCM system
Foot, output cathode A+ feet and output negative pole A- feet connect a driving motor, and output cathode B+ feet are connected with output negative pole B- feet
Another driving motor.
The method have the benefit that：
It is disclosed in the present application that there is the portable smart water quality of positioning and distant control function detection ship to be controlled by SCM system,
It is realized in conjunction with GPS positioning technology, wireless communication technique, infrared obstacle avoidance technology and Turbidity measurement technology, due to integrating for each module
Degree is high, and realization method is simple, so that entire hull is portable, small and exquisite, easy to use, is suitable for diversified building ring
Border rapidly and effectively finds quality problem, the setting of wireless telecommunications and locating module so that can be remote by control terminal
Control uses, and further breaks away from the limitation of working environment, when data transmission the case where allowing people to change water quality have clearly
Intelligent barrier avoiding may be implemented using the comprehensive use of diffusing reflection formula infrared light and microcontroller, in water quality detection process China in understanding
Can effective cut-through object, further strengthen the water surface cruising ability of canoe.It is filled compared to water quality detection both domestic and external at present
Set that volume is larger, data inconvenient to carry, too simple, detection are less, mobility is not strong, needs manual operation, working environment
The shortcomings of limited, water quality detection ship functional disclosed in the present application, using simple can be efficiently accomplished to multiple-quality water index
Data acquire, and later stage plasticity is strong, have larger room for promotion, have the good scope of application and development prospect.
Description of the drawings
Fig. 1 is the functional block diagram of the circuit part of water quality detection ship disclosed in the present application.
Fig. 2 is the circuit diagram of the circuit part of water quality detection ship disclosed in the present application.
Fig. 3 is the schematic diagram of the turbidity transducer in the application.
Fig. 4 is the schematic diagram of the infrared obstacle avoidance module in the application.
Fig. 5 is the schematic diagram of the locating module in the application.
Fig. 6 is the schematic diagram of the wireless communication module in the application.
Fig. 7 is the schematic diagram of the motor drive module in the application.
Specific implementation mode
The following further describes the specific embodiments of the present invention with reference to the drawings.
This application discloses a kind of there is the portable smart water quality of positioning and distant control function to detect ship, referring to FIG. 1, should
Water quality detection ship include hull, SCM system, turbidity transducer, infrared obstacle avoidance module, locating module, wireless communication module,
Liquid crystal display, motor drive module, two driving motors and two screw propellers, SCM system, turbidity sensing
Device, infrared obstacle avoidance module, locating module, wireless communication module, liquid crystal display, motor drive module are set and two driving electricity
Machine is arranged on hull, and wherein turbidity transducer is probeed into water body to be measured and contacted with water body, the setting of infrared obstacle avoidance module
In the fore position of hull and towards the direction of advance of hull, two screw propellers are arranged in hull bottom and are respectively set
In hull both sides.SCM system is separately connected turbidity transducer, infrared obstacle avoidance module, locating module, wireless communication module, liquid
Crystal display screen and motor drive module, wireless communication module are established wireless telecommunications with control terminal and are connect, and control terminal can be with
It is the mobile devices such as mobile phone, tablet, can also be the wireline equipment that computer, console etc. have wireless communication function, motor
Drive module connects and drives two driving motors, and two driving motors are direct current generator, the drive shaft of each driving motor
It is separately connected and controls a screw propeller to drive the movement of entire water quality detection ship, in this application, it is assumed that drive
It is dynamic that motor A connects and controls the screw propeller being arranged on the left of hull, driving motor B is connected and controls setting on the hull right side
The screw propeller of side.
Please refer to Fig.2 the circuit diagram shown, the specific connection in the application between the specific implementation and module of modules
Mode is as follows：
SCM system includes the microcontroller of model STC12C5A60S2, and VCC feet (40 foot) connection of SCM system+
Shape in parallel with circuit crystal oscillator Y1 after 5V power supplys, GND feet (20 foot) ground connection, the first direct-to-ground capacitance C1 and the second direct-to-ground capacitance C2 series connection
At oscillating circuit, which is connected between 18 feet (XTAL2 feet) of SCM system and 19 feet (XTAL1 feet), and first
The common end grounding of direct-to-ground capacitance C1 and the second direct-to-ground capacitance C2, the first direct-to-ground capacitance C1 and the second direct-to-ground capacitance in the application
C2 is 20pF.Third capacitance C3 with to ground resistance R0Series connection, one end connection+5V power supplys of the series circuit, other end ground connection,
Third capacitance C3 with to ground resistance R0Common end connection SCM system 31 feet (RST2 feet) formed reset circuit.
The VCC foot connection+5V power supplys of turbidity transducer, GND feet ground connection, analog output pin AO feet connection microcontroller system
1 foot, the digital output pin DO feet of system are hanging, and the probe segment of turbidity transducer is divided into both ends, and one end is light source, the other end
For measurement window, circuit diagram is referring to FIG. 3, light source emits infrared ray, and the infrared ray is using water body to be measured as propagation medium, by unrestrained
Reflection is transmitted to measurement window, and turbidity transducer may determine that the turbidity of water body to be measured according to the light intensity measured, namely obtain
The turbidity data of water body to be measured, turbidity data send SCM system to by 1 foot of the AO feet through SCM system.
The VCC foot connection+5V power supplys of infrared obstacle avoidance module, GND feet ground connection, output pin VOUT feet connect SCM system
17 feet.Please refer to the circuit diagram of the infrared obstacle avoidance module shown in 4, infrared obstacle avoidance module includes infrared transmitting tube D2 and infrared
Reception pipe D1, infrared transmitting tube D2 are used for receiving infrared-ray, infrared obstacle avoidance module root for emitting infrared ray, infrared receiving tube D1
Barrier and the distance between determination and barrier have been may determine whether according to the infrared ray received, it is in normal state, red
The VOUT feet of outer obstacle avoidance module to SCM system export high level, when detect have barrier in preset distance when, it is infrared to keep away
The VOUT feet of barrier module export low level to SCM system, and preset distance can be by User Defined, for example pre- spacing is arranged
From for 30cm.
Locating module is GPS (Global Positioning System, global positioning system) module, locating module
VCC foot connection+5V power supplys, GND feet are grounded, 3 feet, the module serial ports of module serial ports transmission pin TX feet connection SCM system connect
Spasm foot RX feet connect 4 feet of SCM system, and the schematic diagram of locating module please refers to Fig. 5.Locating module includes antenna, this
Locating module uses ceramic antenna as antenna in application, and locating module is arranged to be set up in spacious place and ceramic antenna
To ensure that positioning accuracy, primary positioning time need to be born in 1-10min or so, after positioning successfully, locating module passes through it
TXD feet send location information to SCM system by 3 foot of SCM system.
Wireless communication module is HC-05 bluetooth serial ports communication modules, then control terminal passes through Bluetooth function and the channel radio
News module establishes bluetooth connection, is usually mounted with special bluetooth serial ports communication assistant APP in actual implementation, in control terminal
(Application, application program), control terminal are realized logical to HC-05 bluetooth serial ports by bluetooth serial ports communication assistant APP
The search matching and communication of module are interrogated, user can send control instruction in the APP to SCM system, can also be at this
The data that SCM system returns are received in APP.VCC foot connection+5V power supplys, the GND feet of HC-05 bluetooth serial ports communication modules connect
Ground, EN feet and STATE feet are hanging, module serial ports transmission pin TXD feet connect 10 feet of SCM system, the reception of module serial ports is drawn
Foot RXD feet connect 11 feet of SCM system, and the schematic diagram of HC-05 bluetooth serial ports communication modules please refers to Fig. 6.
Liquid crystal display is LCD1602 liquid crystal displays, has 8 I/O mouthfuls of data, I/O mouthfuls of DB0-DB7 feet of 8 data
It is sequentially connected the 21-28 feet of SCM system respectively, the data-/ command selection end RS feet of liquid crystal display connect SCM system
32 feet, 33 foot of read/write selection end WR feet connection SCM system, Enable Pin E feet connect 34 foot of SCM system.The liquid crystal display
Screen has 40 byte addresses per a line, but only shows preceding 16 bytes, and totally two rows, each byte are shown as 5x7 dot matrix, column scan
Electric current is amplified using triode, increases scanning intensity, improves dot matrix screen brightness, it is entire to show that process is first to remove 1 column data
Signal, then a row signal is moved, finally it is repeatedly performed the scanning of 16 rows.
Motor drive module is L298N motor drive modules, and Vss foot connection+5V power supplys, the Vs feet of motor drive module connect
+ 7.8V power supplys, GND feet ground connection, 5 feet of input anode INA+ feet connection SCM system, input cathode INA- feet connect microcontroller
6 feet of system, 7 feet of input anode INB+ feet connection SCM system, the 8 of input cathode INB- feet connection SCM system
Foot, output cathode A+ feet and output negative pole A- feet connect driving motor A, and output cathode B+ feet connect driving with output negative pole B- feet
Motor B, schematic diagram please refer to Fig. 7.
The operation principle with the portable smart water quality of positioning and distant control function detection ship disclosed in the present application is as follows：
User sends the control for manipulating water quality detection ship using the long-range HC-05 bluetooth serial ports communication module of control terminal
Instruction, these instructions are referred to as AT orders, and control instruction is transmitted by the TXD feet and RXD feet of HC-05 bluetooth serial ports communication modules
To SCM system, SCM system generates corresponding movement instruction according to the control instruction received and will be transported by 5-8 feet
Dynamic instruction is sent to motor drive module, and movement instruction is usually binary data, and motor drive module drives according to movement instruction
Dynamic two driving motors drive two screw propeller work, to drive hull correspondingly to be moved.It is used in the application
The control instruction that family is sent using control terminal mainly has 5 kinds, the movement of each control instruction corresponding movement instruction and hull
As shown in the table (assuming that driving motor A connects and drive the screw propeller being arranged on the left of hull, driving motor B connections
And drive the screw propeller being arranged on the right side of hull)：
| Control instruction | Movement instruction | The rotating manner of two driving motors | Ship motion mode |
| 0 | 1010 | Driving motor A and B are rotated forward | Hull advances |
| 1 | 0110 | Driving motor A reversions, driving motor B are rotated forward | Hull turns left |
| 2 | 1001 | Driving motor A is rotated forward, driving motor B is inverted | Hull is turned right |
| 3 | 0101 | Driving motor A reversions, driving motor B reversions | Hull retreats |
| 4 | 0000 | Driving motor A stallings, driving motor B stallings | Hull stops |
Meanwhile during water quality detection ship is advanced according to the instruction of control terminal, it can be kept away by infrared
Barrier module carries out intelligent barrier avoiding, cut-through object, specifically, SCM system is detecting pre- spacing by infrared obstacle avoidance module
From it is interior have barrier when, generate avoidance instruction and avoidance instruction be simultaneously sent to motor drive module, avoidance instruction is typically above-mentioned
One kind in movement instruction, can be by User Defined, for example it is 0110 that avoidance instruction, which can be arranged, then water quality detection ship is detecting
When barrier, always turn left to carry out avoidance.
In the traveling process of water quality detection ship, SCM system is used to obtain location information by locating module, pass through
Turbidity transducer acquires the turbidity data of water body to be measured, and location information generally includes longitude information and latitude information, microcontroller
Location information and turbidity data are sent to liquid crystal display by system, liquid crystal display to location information and turbidity data into
Row decoding shows that display mode can be by User Defined, such as 8, liquid crystal display the first row left side byte display location letter
Longitude information in breath, 8, the right of the first row bytes show turbidity datas, the second 8, row left side byte display location information
In latitude information, SCM system 32,33 feet export respectively control LCD1602 liquid crystal display RS, WR feet, control read-write number
According to being updated the data with predetermined period, such as using 1s as predetermined period.
11 foot of the SCM system also RXD of output position information and turbidity data to HC-05 bluetooth serial ports communication modules
Foot receives, and location information and turbidity data are sent to control terminal and carry out real-time display by HC-05 bluetooth serial ports communication module,
It is updated the data with predetermined period, such as also using 1s as predetermined period.
Above-described is only the preferred embodiment of the application, and present invention is not limited to the above embodiments.It is appreciated that this
The other improvements and change that field technology personnel directly export or associate without departing from the spirit and concept in the present invention
Change, is considered as being included within protection scope of the present invention.
Claims (2)
1. a kind of there is the portable smart water quality of positioning and distant control function to detect ship, which is characterized in that the water quality detection ship
Including hull, SCM system, turbidity transducer, infrared obstacle avoidance module, locating module, wireless communication module, liquid crystal display,
Motor drive module, two driving motors and two screw propellers；
The SCM system be separately connected the turbidity transducer, infrared obstacle avoidance module, locating module, wireless communication module,
Liquid crystal display and motor drive module, the turbidity transducer are arranged in water body to be measured and are contacted with water body；It is described red
Outer obstacle avoidance module includes infrared transmitting tube and infrared receiving tube, and the infrared transmitting tube is described infrared for emitting infrared ray
Reception pipe is used for receiving infrared-ray, and the infrared obstacle avoidance module is arranged in the fore position of the hull and towards the hull
Direction of advance；The SCM system, locating module, wireless communication module, liquid crystal display, motor drive module and two
Driving motor is arranged on the hull, and the locating module includes ceramic antenna and the ceramic antenna is set up, institute
It states wireless communication module and establishes wireless telecommunications with control terminal and connect, the motor drive module connects and drives described two drives
The drive shaft of dynamic motor, each driving motor is separately connected and controls a screw propeller, described two propellers
Propeller is arranged in the hull bottom and is separately positioned on the hull both sides；
The SCM system is used to receive the control instruction that the control terminal is sent, and root by the wireless communication module
The movement instruction is sent to the motor drive module, the motor driving according to after control instruction generation movement instruction
Module is used to drive described two driving motors to drive two screw propeller work according to the movement instruction, to drive
The ship motion, the SCM system are additionally operable to generate avoidance when detecting barrier by the infrared obstacle avoidance module
It instructs and avoidance instruction is sent to the motor drive module, the motor drive module according to the avoidance for referring to
It enables and described two driving motors is driven to drive two screw propeller work, to drive the ship motion；In the water
In the traveling process of quality detection ship, the SCM system is used to obtain location information, by described by the locating module
Turbidity transducer acquires the turbidity data of the water body to be measured and is sent to the location information and turbidity data described
Liquid crystal display, the liquid crystal display are used to carry out coding display, the monolithic to the location information and turbidity data
Machine system is additionally operable to that the location information and turbidity data are sent to the control terminal by the wireless communication module.
2. water quality detection ship according to claim 1, which is characterized in that
The SCM system includes the microcontroller of model STC12C5A60S2, the VCC foot connections+5V of the SCM system
Formation oscillating circuit in parallel with circuit crystal oscillator after power supply, GND feet ground connection, the first direct-to-ground capacitance and the series connection of the second direct-to-ground capacitance, institute
It states oscillating circuit to be connected between 18 feet of the SCM system and 19 feet, first direct-to-ground capacitance and the second direct-to-ground capacitance
Common end grounding；Third capacitance is connected with resistance over the ground, one end connection+5V power supplys of the series circuit, other end ground connection, institute
State the 31 feet formation reset circuit that third capacitance connect the SCM system with the common end to ground resistance；
VCC foot connection+5V power supplys, GND feet ground connection, the analog output pin AO feet of the turbidity transducer connect the monolithic
1 foot of machine system；
The VCC foot connection+5V power supplys of the infrared obstacle avoidance module, GND feet ground connection, output pin VOUT feet connect the microcontroller
17 feet of system；
VCC foot connection+5V power supplys, GND feet ground connection, the module serial ports of the locating module send pin TX feet and connect the monolithic
3 feet, the module serial ports of machine system receive 4 feet that pin RX feet connect the SCM system；
The wireless communication module is HC-05 bluetooth serial ports communication modules, the VCC feet of the HC-05 bluetooth serial ports communication module
Connection+5V power supplys, GND feet are grounded, EN feet are hanging with STATE feet, module serial ports sends pin TXD feet and connects the microcontroller system
10 feet, the module serial ports of system receive 11 feet that pin RXD feet connect the SCM system；
The liquid crystal display is LCD1602 liquid crystal displays, I/O mouthfuls of DB0-DB7 feet difference of data of the liquid crystal display
The 21-28 feet of the SCM system are sequentially connected, the data-/ command selection end RS feet of the liquid crystal display connect microcontroller
32 foot of system, 33 foot of read/write selection end WR feet connection SCM system, Enable Pin E feet connect 34 foot of SCM system；
The motor drive module is L298N motor drive modules, Vss foot connection+5V power supplys, the Vs of the motor drive module
Foot connects+7.8V power supplys, GND feet ground connection, and input anode INA+ feet connect 5 feet of the SCM system, input cathode INA- feet
6 feet of the SCM system are connect, input anode INB+ feet connect 7 feet of the SCM system, and input cathode INB- feet connect
8 feet of the SCM system are connect, output cathode A+ feet connect a driving motor, output cathode B+ feet with output negative pole A- feet
Another driving motor is connected with output negative pole B- feet.
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| CN114942310A (en) * | 2022-04-11 | 2022-08-26 | 湛江幼儿师范专科学校(岭南师范学院基础教育学院) | Unmanned ship for water quality monitoring and water quality monitoring system |
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| CN113944884A (en) * | 2021-08-23 | 2022-01-18 | 广东海洋大学 | Urban pipe network sewage parameter real-time monitoring system |
| CN114942310A (en) * | 2022-04-11 | 2022-08-26 | 湛江幼儿师范专科学校(岭南师范学院基础教育学院) | Unmanned ship for water quality monitoring and water quality monitoring system |
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