CN111376260A - Inspection robot bottom cabin wading detection discharge device and method - Google Patents
Inspection robot bottom cabin wading detection discharge device and method Download PDFInfo
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- 238000001514 detection method Methods 0.000 title claims abstract description 71
- 238000007689 inspection Methods 0.000 title claims abstract description 66
- 238000000034 method Methods 0.000 title claims abstract description 18
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 54
- 239000007788 liquid Substances 0.000 claims abstract description 50
- 239000003990 capacitor Substances 0.000 claims description 23
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- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000011010 flushing procedure Methods 0.000 description 1
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- 239000003595 mist Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
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Abstract
A wading detection discharge device and method for a bottom cabin of an inspection robot comprises a first liquid level detection module, a main control module, an upper computer, a driving module and a motor; the first liquid level detection module detects a wading state of a first cabin position and generates a first voltage signal; the main control module generates a first early warning signal according to the first voltage signal and generates a first level control signal according to the drainage signal; the upper computer generates a drainage signal according to the first early warning signal; the driving module generates a switch control signal according to the first level control signal; the motor controls the electric control valve to be opened according to the switch control signal so as to drain water; whether water enters the bottom cabin or not is detected through the first liquid level detection module, an early warning signal is sent to the upper computer, the upper computer sends a drainage signal to the main control module according to the early warning signal, the main control module drives the motor to open the electric control valve for drainage, the automatic control valve can be automatically opened for drainage after the robot enters water, and the damage of the equipment in the cabin caused by the wading in the cabin is avoided.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a wading detection discharge device and method for a bottom cabin of an inspection robot.
Background
Due to the all-weather outdoor working conditions of the inspection robot, the requirements on wading and water resistance are high, and although the inspection robot pays special attention to the water resistance effect in structural design, the inspection robot can cause water to enter the interior of the inspection robot in rainy days, road puddles, artificial flushing and other situations. At present, no device or equipment capable of automatically detecting whether water enters the cabin bottom of the inspection robot and controlling discharge exists, and when water enters the cabin bottom, workers can only manually drain water through a disassembling machine, so that the process is complicated; in addition, if the water cannot be timely released when the water enters the cabin bottom of the inspection robot, the water enters the cabin bottom, so that the water is over-limited, not only can the internal equipment of the cabin bottom be damaged, but also the circuit board in the cabin bottom can be possibly short-circuited to cause danger.
Therefore, the inspection robot bottom cabin device in the traditional technical scheme has the problem that whether the inside of the bottom cabin wades into water or not can not be detected to automatically discharge.
Disclosure of Invention
The invention provides a wading detection discharge device and method for a bottom cabin of an inspection robot, and aims to solve the problem that whether the interior of the bottom cabin of the inspection robot cannot be detected to automatically discharge wading in the bottom cabin of the inspection robot in the traditional technical scheme.
The invention is realized in this way, a inspection robot bottom cabin wading detection bleeder mechanism, includes:
the first liquid level detection module is used for detecting the wading state of the first cabin position and generating a first voltage signal;
the main control module is connected with the first liquid level detection module and used for generating a first early warning signal according to the first voltage signal and generating a first level control signal according to a drainage signal;
the upper computer is connected with the main control module and used for generating the drainage signal according to the first early warning signal;
the driving module is connected with the main control module and used for generating a switch control signal according to the first level control signal; and
and the motor is connected with the driving module and the electric control valve and is used for controlling the electric control valve to be opened to drain water and to be closed to stop draining water according to the switch control signal.
In addition, still provide a inspection robot under deck wading detection bleeder mechanism's detection bleeder method, include:
receiving a first voltage signal generated by monitoring the wading state of a first cabin position by a first liquid level detection module in real time;
judging whether the first voltage signal is smaller than a first preset voltage or not;
if so, generating a first early warning signal, sending the first early warning signal to an upper computer, and receiving a drainage signal generated by the upper computer according to the first early warning signal;
generating a switch control signal according to the drainage signal to control the motor to open the electric control valve for drainage;
according to the device and the method for wading detection and release of the bottom cabin of the inspection robot, the wading state of the position in the first cabin is detected through the first liquid level detection module, a first voltage signal is generated, the main control module generates a first early warning signal according to the first voltage signal, the upper computer generates a drainage signal according to the first early warning signal, the main control module generates a first level control signal according to the drainage signal, and the driving module generates a switch control signal according to the first level control signal to control the motor to open the electric control valve for drainage; whether water enters the bottom cabin or not is detected through the first liquid level detection module, a first early warning signal is sent to the upper computer, the upper computer sends a drainage signal to the main control module according to the first early warning signal, the main control module opens the electric control valve through the driving module driving motor to drain water, and then the inspection robot can automatically open the automatic control valve to drain water after water enters the inspection robot, the whole inspection robot does not need to be disassembled, and meanwhile, the damage to equipment in the cabin caused by water wading in the cabin is avoided.
Drawings
Fig. 1 is a schematic block diagram of a wading detection bleeder device of a bottom cabin of an inspection robot according to an embodiment of the present invention;
fig. 2 is a schematic module diagram of a wading detection bleeder device of a bottom cabin of an inspection robot according to another embodiment of the invention;
fig. 3 is a schematic module diagram of a wading detection bleeder device of a bottom cabin of an inspection robot according to another embodiment of the invention;
fig. 4 is a schematic circuit diagram of a wading detection bleeder device of a bottom cabin of an inspection robot according to an embodiment of the invention;
fig. 5 is a working flow chart of a method for detecting and releasing wading in a bottom compartment of an inspection robot according to an embodiment of the present invention;
fig. 6 is a working flow chart of a method for detecting release of a wading detection release device of a bottom cabin of an inspection robot according to another embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Fig. 1 shows a module schematic diagram of a wading detection bleeder device of a bottom cabin of an inspection robot according to a preferred embodiment of the present invention, and for convenience of description, only the parts related to the embodiment are shown, which are detailed as follows:
referring to fig. 1, a wading detection bleeder of a bottom cabin of an inspection robot comprises: the liquid level detection device comprises a first liquid level detection module 10, a main control module 30, an upper computer 20, a driving module 40 and a motor 50.
The first liquid level detection module 10 is used for detecting a wading state of a first cabin position and generating a first voltage signal; the main control module 30 is connected with the first liquid level detection module 10, and is configured to generate a first early warning signal according to the first voltage signal and generate a first level control signal according to the drainage signal; the upper computer 20 is connected with the main control module 30 and is used for generating a drainage signal according to the first early warning signal; the driving module 40 is connected with the main control module 30 and is used for generating a switch control signal according to the first level control signal; the motor 50 is connected with the driving module 40 and the electric control valve, and is used for controlling the electric control valve to be opened for draining and closed for stopping draining according to the switch control signal. In a specific embodiment, the upper computer 20 may be a controller, and the main control module 30 may be implemented by a main control chip.
In this embodiment, whether water enters the bottom cabin is detected through the first liquid level detection module 10, a first early warning signal is sent to the upper computer 20, the upper computer 20 sends a drainage signal to the main control module 30 according to the first early warning signal, so that the main control module 30 drives the motor 50 through the driving module 40 to open the electric control valve for drainage, and then the inspection robot can automatically open the electric control valve for drainage after water enters the inspection robot, the whole machine does not need to be disassembled, and meanwhile, the damage of the equipment in the cabin caused by the wading in the cabin is avoided.
In one embodiment, referring to fig. 2, the inspection robot bilge wading detection bleeder device further comprises: a second level detection module 60. The second liquid level detection module 60 is connected to the main control module 30, and is configured to detect a wading state of a second cabin location and generate a second voltage signal; the main control module 30 is further configured to generate a second early warning signal according to the second voltage signal, so that the upper computer 20 generates a shutdown signal according to the second early warning signal to control the inspection robot to shutdown. This embodiment can detect the position that the under-deck is inside to flush with electrical equipment through second liquid level detection module 60 and whether intake to send second early warning signal to host computer 20, make host computer 20 generate shutdown signal in order to control to patrol and examine the robot and shut down according to second early warning signal, thereby can avoid wading the internal circuit board short circuit of under-deck that the transfinite caused and take place danger.
In one embodiment, referring to fig. 3, the inspection robot bilge wading detection bleeder device further includes a power module 70, and the power module 70 is connected to the first liquid level detection module 10, the second liquid level detection module 60, the main control module 30 and the driving module 40, and is used for supplying power to each module.
In one embodiment, referring to fig. 4, the first liquid level detection module 10 includes a first photoelectric liquid level sensor 101 and a first voltage conversion unit 102. The first photoelectric liquid level sensor 101 is used for detecting a wading state of a first cabin position and generating a first water level voltage signal; the first voltage conversion unit 102 is connected to the first photoelectric liquid level sensor 101 and the main control module 30, and is configured to generate a first voltage signal according to the first water level voltage signal. Whether this embodiment detects the lower position of patrolling and examining robot through first photoelectric level sensor and wades, for example with the position of under-deck chassis parallel and level, the slight water that specifically detectable 2-3mm to according to states output corresponding voltage signal such as anhydrous, water smoke or soaking that detect.
In one embodiment, referring to fig. 4, the first voltage conversion unit 102 includes: a first resistor R1, a second resistor R2, a third resistor R3, a first capacitor C1, and a first TVS (Transient Voltage Suppressor) tube ZD 1; a first end of the first resistor R1, a second end of the second resistor R2, and a negative electrode of the first TVS tube ZD1 are commonly connected to form an input end of the first voltage conversion unit 102, a positive electrode of the first TVS tube ZD1 is connected to ground, a second end of the first resistor R1 and a first end of the first capacitor C1 are commonly connected to the first voltage output end VCC1 of the power module 70, a second end of the first capacitor C1 is connected to ground, a second end of the second resistor R2 and a first end of the third resistor R3 are commonly connected to form an output end of the first voltage conversion unit 102, and a second end of the third resistor R3 is connected to ground. The embodiment can convert a first water level voltage signal output by the first photoelectric liquid level sensor into a first voltage signal which can be received by the main control chip, so that the main control chip generates a first early warning signal according to the first voltage signal.
In one embodiment, referring to fig. 4, the second liquid level detection module 60 includes a second photoelectric liquid level sensor 601 and a second voltage conversion unit 602. The second photoelectric liquid level sensor 601 is used for detecting the wading state of the second cabin position and generating a second water level voltage signal; the second voltage conversion unit 602 is connected to the second photoelectric liquid level sensor 601 and the main control module 30, and is configured to generate a second voltage signal according to the second water level voltage signal. The embodiment detects whether the higher position of the inspection robot wades through the second photoelectric liquid level sensor 601, for example, the position flush with the electrical equipment in the cabin, and outputs a corresponding voltage signal according to the detected states such as no water, water mist or water immersion.
In one embodiment, referring to fig. 4, the second voltage converting unit 602 includes: a fourth resistor R4, a fifth resistor R5, a sixth resistor R6, a second capacitor C2 and a second TVS tube ZD 2; a first end of the fourth resistor R4, a second end of the fifth resistor R5, and a negative electrode of the second TVS tube ZD2 are commonly connected to form an input end of the second voltage conversion unit 602, a positive electrode of the second TVS tube ZD2 is connected to ground, a second end of the fourth resistor R4 and a first end of the second capacitor C2 are commonly connected to the first voltage output end VCC1 of the power module 70, a second end of the second capacitor C2 is connected to ground, a second end of the fifth resistor R5 and a first end of the sixth resistor R6 are commonly connected to form an output end of the second voltage conversion unit 602, and a second end of the sixth resistor R6 is connected to ground. The second water level voltage signal output by the second photoelectric liquid level sensor can be converted into a second voltage signal which can be received by the main control chip, so that the main control chip generates a second early warning signal according to the second voltage signal.
In one embodiment, referring to fig. 4, the driving module 40 includes: the circuit comprises a first triode Q1, a first field-effect transistor Q2, a seventh resistor R7, an eighth resistor R8, a ninth resistor R9, a tenth resistor R10, a first Schottky diode ZD3, a second Schottky diode ZD4, a third capacitor C3 and a fourth capacitor C4; a first end of the seventh resistor R7 is a control end of the driving module 40, a second end of the seventh resistor R7, a first end of the eighth resistor R8, and a base of the first transistor Q1 are commonly connected, a second end of the eighth resistor R8 and an emitter of the first transistor Q1 are commonly connected to ground, a collector of the first transistor Q1 and a first end of the ninth resistor R9 are connected, a second end of the ninth resistor R9, a first end of the tenth resistor R10, a first end of the third capacitor C3, and a control end of the first field effect transistor Q2 are commonly connected, an input end of the first field effect transistor Q2, a second end of the third capacitor C3, and a second end of the tenth resistor R10 are commonly connected to a cathode of the first schottky diode Q3, an anode of the first schottky diode ZD3 is an input end of the driving module 40 and is connected to a first voltage output end 1 of the power module 70, an output end of the first VCC tube Q2, an anode of the fourth resistor ZD4, and a cathode of the schottky diode Q4 are commonly connected, the second terminal of the fourth capacitor C4 is connected to ground, and the anode of the second schottky diode ZD4 is connected to ground. The first triode Q1 can be controlled to be conducted according to the first level control signal of the high level output by the main control chip, so that the first field effect transistor Q2 is conducted, the first voltage output end VCC1 of the power module 70 outputs voltage to the motor 50 to drive the motor 50 to start up, and the electric control valve is controlled to be opened to enable the inspection robot to drain water at the bottom of the cabin. The first triode Q1 can be controlled to be turned off according to the first level control signal of the low level output by the main control chip, so that the first field effect transistor Q2 is turned off, the first voltage output terminal VCC1 of the power module 70 cannot output voltage to the motor 50 and cannot drive the motor 50 to start, and the electric control valve is controlled to be closed to enable the inspection robot to be free from draining water at the bottom of the cabin.
In addition, a detection and release method of the inspection robot bilge wading detection and release device is further provided, and with reference to fig. 5, the method specifically includes the following steps:
and S10, receiving a first voltage signal generated by monitoring the wading state of the first cabin position by the first liquid level detection module in real time.
In step S10, after the main control module is powered on and reset, the program initialization is completed, and the main control module receives the first voltage signal output by the first liquid level detection module in real time.
And S20, judging whether the first voltage signal is smaller than a first preset voltage or not.
In step S20, the main control module determines whether the first voltage signal is less than a first predetermined voltage. For example, when the first preset voltage is 0.5V, the main control module determines whether the first voltage signal is less than 0.5V.
And S30, if yes, generating a first early warning signal, sending the first early warning signal to an upper computer, and receiving a drainage signal generated by the upper computer according to the first early warning signal.
And S40, generating a switch control signal according to the drainage signal to control the motor to open the electric control valve for drainage.
In step S40, the method specifically further includes: and when the first voltage signal is judged to be not less than the first preset voltage, a second switch control signal is generated to control the motor to close the electric control valve to stop water drainage. In the process of opening the electric control valve for draining, the main control module receives a first voltage signal generated by monitoring the wading state of the first cabin position by the first liquid level detection module in real time, and when the main control module judges that the received first voltage signal is not less than a first preset voltage, namely the first voltage signal is recovered to a normal voltage value, the main control module generates a second switch control signal to control the motor to close the electric control valve to stop draining.
In other embodiments, referring to fig. 6, the method for detecting the release of the wading release detection device of the inspection robot bilge further includes the following steps:
and S50, receiving a second voltage signal generated by the second liquid level detection module monitoring the wading state of the second cabin position in real time.
In step S50, the main control module receives the second voltage signal outputted by the second liquid level detection module in real time.
And S60, judging whether the second voltage signal is smaller than a second preset voltage or not.
In step S60, the main control module determines whether the second voltage signal is less than a second predetermined voltage. For example, when the second preset voltage is 0.5V, the main control module determines whether the second voltage signal is less than 0.5V.
And S70, if so, sending a second early warning signal to the upper computer, and enabling the upper computer to generate a shutdown signal according to the second early warning signal so as to control the inspection robot to shut down.
The operation principle of the inspection robot bottom cabin wading detection and discharge device shown in fig. 4 is described as an example, and is detailed as follows:
the wading state of a first position IN the cabin bottom of the inspection robot is detected through a first photoelectric liquid level sensor 101, a first water level voltage signal is output, the first water level voltage signal is divided through a second resistor R2 to generate a first voltage signal, the first voltage signal is input to a main control chip U1 through a thirty-fifth I/O port ADC _ IN 8 of the main control chip U1, when the first voltage signal received by the main control chip U1 is smaller than a first preset voltage, for example, smaller than 0.5V, the main control chip U1 generates a first early warning signal and sends the first early warning signal to a controller through an eighty I/O port CAN _ TX of the main control chip U1, the controller generates a drainage signal according to the first early warning signal and feeds the drainage signal back to the main control chip U1 through an eighty I/O port CAN _ RX of the main control chip U1, so that the main control chip U1 generates a high-level first level control signal according to the drainage signal, and the output of the fourth I/O port of the main control chip U1 controls the conduction of the first triode Q1, so as to control the conduction of the first field effect transistor Q2, so that the voltage output by the first voltage output terminal VCC1 of the power module 70 is transmitted to the motor 50 through the first field effect transistor Q2, thereby driving the motor 50 to start, and further controlling the electric control valve to open, so as to control the drainage of the inspection robot cabin bottom.
IN addition, a second photoelectric liquid level sensor 601 is used for detecting a wading state of a second position IN the cabin bottom of the inspection robot and outputting a second water level voltage signal, the second water level voltage signal is divided by a fifth resistor R5 to generate a second voltage signal, the second voltage signal is input to a main control chip U1 through a third sixteen I/O port ADC _ IN 15 of the main control chip U1, when the second voltage signal received by the main control chip U1 is smaller than a second preset voltage, for example, smaller than 0.5V, the main control chip U1 generates a second early warning signal and sends the second early warning signal to a controller through an eighth eleventh I/O port CAN _ TX of the main control chip U1, and the controller generates a shutdown signal according to the second early warning signal to control shutdown of the inspection robot so as to facilitate machine disassembly inspection.
When the second voltage signal received by the main control chip U1 is not greater than the first preset voltage, for example, not greater than 0.5V, the main control chip U1 does not generate an early warning signal, and meanwhile, the first photoelectric liquid level sensor continues to detect the wading state of the first position inside the inspection robot bilge, at this time, the motor 50 is turned off, the electric control valve is closed, and the inspection robot bilge is not drained.
The invention has the beneficial effects that:
(1) whether water enters the bottom cabin or not is detected through the first liquid level detection module, a first early warning signal is sent to the upper computer, the upper computer sends a drainage signal to the main control module according to the first early warning signal, the main control module opens the electric control valve through the driving module driving motor to drain water, and then the inspection robot can automatically open the automatic control valve to drain water after water enters the inspection robot, the whole inspection robot does not need to be disassembled, and meanwhile, the damage to equipment in the cabin caused by water wading in the cabin is avoided.
(2) Whether water enters the position, flushed with the electrical equipment, in the bottom cabin or not is detected through the second liquid level detection module, and a second early warning signal is sent to the upper computer, so that the upper computer generates a shutdown signal according to the second early warning signal to control the inspection robot to shut down, and danger can be avoided due to the fact that a circuit board in the bottom cabin is short-circuited due to water exceeding.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (11)
1. The utility model provides a patrol and examine robot under deck and wade and detect bleeder mechanism, a serial communication port, patrol and examine robot under deck and wade and detect bleeder mechanism and include:
the first liquid level detection module is used for detecting the wading state of the first cabin position and generating a first voltage signal;
the main control module is connected with the first liquid level detection module and used for generating a first early warning signal according to the first voltage signal and generating a first level control signal according to a drainage signal;
the upper computer is connected with the main control module and used for generating the drainage signal according to the first early warning signal;
the driving module is connected with the main control module and used for generating a switch control signal according to the first level control signal; and
and the motor is connected with the driving module and the electric control valve and is used for controlling the electric control valve to be opened to drain water and to be closed to stop draining water according to the switch control signal.
2. The inspection robot bilge wading detection bleeder device of claim 1, wherein the inspection robot bilge wading detection bleeder device further comprises:
the second liquid level detection module is connected with the main control module and used for detecting the wading state of the second cabin position and generating a second voltage signal;
the main control module is further used for generating a second early warning signal according to the second voltage signal, so that the upper computer generates a shutdown signal according to the second early warning signal to control the inspection robot to shut down.
3. The inspection robot bilge wading detection bleeder device according to claim 2, wherein the inspection robot bilge wading detection bleeder device further comprises:
and the power supply module is connected with the first liquid level detection module, the second liquid level detection module, the main control module and the driving module and used for supplying power to each module.
4. The inspection robot bilge wading detection bleeder device of claim 3, wherein the first liquid level detection module includes:
the first photoelectric liquid level sensor is used for detecting the wading state of the first cabin position and generating a first water level voltage signal; and
and the first voltage conversion unit is connected with the first photoelectric liquid level sensor and the main control module and is used for generating the first voltage signal according to the first water level voltage signal.
5. The inspection robot bilge wading detection bleeder device of claim 3, wherein the second level detection module includes:
the second photoelectric liquid level sensor is used for detecting the wading state of the position in the second cabin and generating a second water level voltage signal; and
and the second voltage conversion unit is connected with the second photoelectric liquid level sensor and the main control module and is used for generating a second voltage signal according to the second water level voltage signal.
6. The inspection robot bilge wading detection bleeder device of claim 4, wherein the first voltage conversion unit includes: the circuit comprises a first resistor, a second resistor, a third resistor, a first capacitor and a first TVS (transient voltage suppressor) tube;
the first end of the first resistor, the second end of the second resistor and the negative electrode of the first TVS tube are connected to form the input end of the first voltage conversion unit, the positive electrode of the first TVS tube is connected to the ground, the second end of the first resistor and the first end of the first capacitor are connected to form the output end of the first voltage conversion unit, the second end of the first capacitor is connected to the ground, the second end of the second resistor and the first end of the third resistor are connected to form the output end of the first voltage conversion unit, and the second end of the third resistor is connected to the ground.
7. The inspection robot bilge wading detection bleeder device of claim 5, wherein the second voltage conversion unit includes: the fourth resistor, the fifth resistor, the sixth resistor, the second capacitor and the second TVS tube;
the first end of the fourth resistor, the second end of the fifth resistor and the negative electrode of the second TVS tube are connected to form the input end of the second voltage conversion unit, the positive electrode of the second TVS tube is connected to the ground, the second end of the fourth resistor and the first end of the second capacitor are connected to the first voltage output end of the power module, the second end of the second capacitor is connected to the ground, the second end of the fifth resistor and the first end of the sixth resistor are connected to form the output end of the second voltage conversion unit, and the second end of the sixth resistor is connected to the ground.
8. The inspection robot bilge wading detection bleeder device of claim 1, wherein the drive module includes: the circuit comprises a first triode, a first field effect transistor, a seventh resistor, an eighth resistor, a ninth resistor, a tenth resistor, a first Schottky diode, a second Schottky diode, a third capacitor and a fourth capacitor;
the first end of the seventh resistor is the control end of the driving module, the second end of the seventh resistor, the first end of the eighth resistor and the base of the first triode are connected together, the second end of the eighth resistor and the emitter of the first triode are connected to ground, the collector of the first triode is connected with the first end of the ninth resistor, the second end of the ninth resistor, the first end of the tenth resistor, the first end of the third capacitor and the control end of the first field-effect transistor are connected together, the input end of the first field-effect transistor, the second end of the third capacitor and the second end of the tenth resistor are connected to the negative electrode of the first schottky diode, the positive electrode of the first schottky diode is the input end of the driving module and is connected with the first voltage output end of the power module, the output end of the first field-effect transistor, The first end of the fourth capacitor and the cathode of the second Schottky diode are connected together to form the output end of the driving module, the second end of the fourth capacitor is connected to the ground, and the anode of the second Schottky diode is connected to the ground.
9. The utility model provides a patrol and examine robot under deck wading detection bleeder mechanism's detection bleeder mechanism, its characterized in that, it includes to detect the bleeder mechanism:
receiving a first voltage signal generated by monitoring the wading state of a first cabin position by a first liquid level detection module in real time;
judging whether the first voltage signal is smaller than a first preset voltage or not;
if so, generating a first early warning signal, sending the first early warning signal to an upper computer, and receiving a drainage signal generated by the upper computer according to the first early warning signal;
and generating a first switch control signal according to the drainage signal so as to control the motor to open the electric control valve for drainage.
10. The inspection robot bilge wading detection bleeder device detection bleeder method according to claim 9, wherein a first switch control signal is generated according to the drainage signal to control the motor to open the electrically controlled valve for drainage, and specifically further comprising:
and when the first voltage signal is judged to be not less than the first preset voltage, generating a second switch control signal to control the motor to close the electric control valve to stop draining.
11. The inspection robot bilge wading inspection tapping method according to claim 10, wherein the inspection tapping method further comprises:
receiving a second voltage signal generated by a second liquid level detection module monitoring the wading state of the position in a second cabin in real time;
judging whether the second voltage signal is smaller than a second preset voltage or not;
if yes, sending a second early warning signal to the upper computer, and enabling the upper computer to generate a shutdown signal according to the second early warning signal so as to control the inspection robot to shut down.
Priority Applications (1)
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| CN111376260B (en) | 2021-12-31 |
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