CN214149700U - Water leakage detection module for deep sea underwater robot sealed cabin - Google Patents
Water leakage detection module for deep sea underwater robot sealed cabin Download PDFInfo
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- CN214149700U CN214149700U CN202120094425.9U CN202120094425U CN214149700U CN 214149700 U CN214149700 U CN 214149700U CN 202120094425 U CN202120094425 U CN 202120094425U CN 214149700 U CN214149700 U CN 214149700U
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Abstract
The utility model discloses a water leakage detection module for a deep sea underwater robot sealed cabin, which mainly comprises a water leakage detection sensor, a logic comparison circuit, a microcontroller, a temperature/humidity sensor, a CAN bus communication interface circuit and a DC/DC power supply conversion circuit; wherein: the water leakage detection sensor is arranged in the sealed cabin and connected with the logic comparison circuit, the logic comparison circuit is connected with the microcontroller, the temperature/humidity detection circuit is connected with the microcontroller, the CAN bus communication interface circuit is connected with the microcontroller, and the DC/DC power supply conversion circuit is respectively connected with the logic comparison circuit, the microcontroller and the temperature/humidity detection circuit. The utility model discloses easily insert the system bus, the modularized design of being convenient for, simultaneously, through detecting the interior temperature/humidity information of under-deck, improved the detection precision of leaking.
Description
Technical Field
The utility model belongs to the technical field of underwater robot technique and specifically relates to a deep sea underwater robot sealed cabin is with detection module that leaks.
Background
In recent years, Autonomous Underwater Vehicles (AUV) have gradually gained importance from all countries of the world, have been widely used in the fields of marine economic development, ecological research, geological exploration, hydrological monitoring, oil and gas pipeline detection, and have gradually become important tools for underwater operation.
The core controller, the communication equipment, the acoustic detection equipment, the battery pack and the like are placed in the underwater robot sealed cabin, the sealing performance of the sealed cabin directly concerns the equipment safety of the underwater robot, once the sealed cabin leaks water, equipment short circuit is caused, destructive damage is caused to the underwater robot, and if the water leakage cannot be timely remedied, destructive damage can be caused to the underwater robot. The conventional water leakage detection device has the following disadvantages: the sensor detection device is simple, the condensed water phenomenon cannot be eliminated, and the false alarm probability is high; secondly, the structural form is single; thirdly, the detection circuit is centralized on a control computer, the design is too single, and the installation and wiring are redundant.
SUMMERY OF THE UTILITY MODEL
Aiming at the defects of the prior art, the utility model provides a water leakage detection module for a deep sea underwater robot sealed cabin, which is simple and practical, has high detection sensitivity, a CAN bus interface communication function and is easy to realize modular design and arrangement; the temperature/humidity detection function is provided, false alarm caused by water vapor condensation is effectively reduced through a multi-sensor information fusion technology, and the false alarm rate is reduced; the device has the liquid level upper limit detection function, multi-point detection and reduction of the false alarm probability.
The utility model discloses a realize that the technical scheme that above-mentioned purpose adopted is:
a deep sea underwater robot sealed cabin is with detection module that leaks includes: the water leakage detection device comprises a water leakage detection sensor, a logic comparison circuit, a microcontroller, a temperature/humidity detection circuit, a CAN bus communication interface circuit and a DC/DC power supply conversion circuit, wherein:
the water leakage detection sensor is arranged in the sealed cabin and connected with the logic comparison circuit, the logic comparison circuit is connected with the microcontroller, the temperature/humidity detection circuit is connected with the microcontroller, the CAN bus communication interface circuit is connected with the microcontroller, and the DC/DC power supply conversion circuit is respectively connected with the logic comparison circuit, the microcontroller and the temperature/humidity detection circuit.
The number of the water leakage detection sensors is four, wherein the water leakage detection sensor a and the water leakage detection sensor b are respectively installed at the joint of the bottom of the sealed cabin and the two side walls of the sealed cabin, the water leakage detection sensor c and the water leakage detection sensor d are respectively installed on the two side walls of the sealed cabin, and the water leakage detection sensors a and the water leakage detection sensors b have height differences.
The logic comparison circuit is four ways, and each way is connected with a water leakage detection sensor.
The CAN bus communication interface circuit is connected with an external automatic driving unit.
The CAN bus communication interface circuit comprises an isolation circuit and a CAN bus communication interface, wherein the CAN bus communication interface is connected with the microcontroller through the isolation circuit, and the CAN bus communication interface is connected with an external automatic driving unit.
The temperature/humidity detection circuit includes: the temperature/humidity sensor is connected with the microcontroller through the operational amplification circuit.
The logic comparison circuit is as follows:
the connecting terminal WS1 is used as the input end of a logic comparison circuit and is connected with a water leakage detection sensor, a pin 1 of the connecting terminal WS1 is connected with the positive input end of a comparator, a pin 2 of the connecting terminal WS1 is connected with the negative input end of the comparator through a resistor R8, a resistor R26 and a resistor R6 which are connected in series are connected between the pin 1 and the pin 2 of the connecting terminal WS1, the pin 2 of the connecting terminal WS1 is grounded, the positive input end of the comparator is sequentially connected with the output end of the comparator through the resistor R5 and the resistor R9, the negative input end of the comparator sequentially passes through the resistor R7, the output end of the comparator is connected with the resistor R9, the node between the resistor R7 and the resistor R9 is connected with a power supply and is grounded through the capacitor C5, the output end of the comparator is used as the output end of the logic comparison circuit, the reverse input end of the comparator is grounded through the resistor R8, and the forward input end of the comparator is connected with external voltage through the resistor R5.
The comparator is an LM339N type chip.
The utility model has the following beneficial effects and advantages:
1. the utility model discloses a set up four detection sensor that leak of difference in height in the sealed cabin, each detection sensor that leaks adopts the design of electrode type copper needle, has improved the detection sensitivity that leaks;
2. the utility model discloses a detect inside temperature/humidity information of sealed cabin, through multisensor information fusion technique to the weighting coefficient mode is got rid of the sealed cabin cooling water and is caused the alert probability of system misstatement, has improved the precision that detects of leaking.
3. The utility model discloses increased CAN bus communication mode, the modularized design of being convenient for, the autopilot unit is uploaded with alarm information with the bus mode to the efficient more, has reduced connecting cable quantity between the sealed cabin.
Drawings
FIG. 1 is a schematic diagram of the microcontroller hardware of the present invention;
FIG. 2 is a schematic diagram of the water leakage detection logic comparison circuit of the present invention;
FIG. 3 is a schematic diagram of the temperature/humidity detection circuit of the present invention;
FIG. 4 is a schematic diagram of a CAN communication interface circuit of the present invention;
fig. 5 is a schematic view of the installation of the water leakage detection sensor in the sealed cabin of the present invention;
wherein: 1. an electrode type detection copper needle; 2. an electrode type detection copper needle;
FIG. 6 is a schematic view of the water leakage detection module for the deep sea underwater robot sealed cabin of the present invention;
fig. 7 is a flow chart of the water leakage detection procedure of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention can be embodied in many other forms than those specifically described herein, and it will be apparent to those skilled in the art that similar modifications can be made without departing from the spirit and scope of the invention.
It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
A deep sea underwater robot sealed cabin is with detection module that leaks includes:
the water leakage sensor system at least comprises four water leakage sensors which are respectively arranged at the joint of the sealing end surface of the sealed cabin and used for acquiring water leakage information and water leakage upper limit information, wherein the water leakage sensor 1 and the water leakage sensor 2 are used for acquiring water leakage information at the bottom of the sealed cabin, and the water leakage sensor 3 and the water leakage sensor 4 are used for acquiring water leakage upper limit information of the sealed cabin;
the logic comparison circuit is connected with the water leakage sensor and used for receiving the water leakage information and the water level upper limit information collected by the water leakage sensor, converting the water leakage information and the water level upper limit information into level change after logic judgment and inputting the level change into the microcontroller;
the temperature/humidity sensor is connected with the microcontroller unit and is mainly used for acquiring temperature information and humidity information in the sealed cabin;
the CAN communication interface is connected with the microcontroller and is used for sending the water leakage alarm signal to the automatic driving unit through a CAN communication protocol;
the microcontroller is used for logically judging whether the water leakage alarm signal is effective or not through a multi-sensor information fusion technology and sending the alarm signal to the automatic driving unit through the CAN communication interface;
the DC/DC conversion device is used for providing required voltage for the whole module;
the water leakage sensor is arranged at the position where the underwater robot sealed cabin is easy to leak water and is usually arranged at the position of a sealed end cover; the water leakage sensor is separated from the logic comparison circuit and is connected with the logic comparison circuit through a connecting wire.
The water leakage sensor is an electrode type contact sensor and is designed by a copper needle.
The logic comparison circuit is mainly used for carrying out logic judgment on the water leakage information and the water level information, then converting the water leakage information and the water level information into high and low level signals and inputting the high and low level signals into the microcontroller. The logic comparison circuit adopts LM 339N.
The CAN communication interface is mainly used for communicating with an upper computer; the CAN communication chip adopts a CAN transceiver chip SN65HVD 250D.
The temperature/humidity sensor is used for monitoring the temperature and humidity information inside the underwater robot sealed cabin; the temperature/humidity sensor chip adopts an SHT20 series chip.
The microcontroller is responsible for logically judging water leakage alarm information and sending the water leakage alarm information to the upper computer through the CAN communication interface; the microcontroller adopts STM32F042K6T6 series controller.
The water leakage detection sensor is arranged at the position of the water leakage sealing end face of the underwater robot sealed cabin, and is usually arranged at the position close to the bottom of the sealed cabin;
the water leakage sensor 1 and the water leakage sensor 2 are generally arranged at the bottommost part of the sealed cabin, and the water leakage sensor 3 and the water leakage sensor 4 are generally arranged at the position 3 cm away from the horizontal plane at the bottom of the sealed cabin;
example (b):
fig. 1 shows a hardware schematic diagram of the microcontroller according to the present invention. The microcontroller hardware schematic diagram mainly comprises a chip STM32F042K6T6, a crystal oscillator Y1, resistors R1, R27 and R28, capacitors C1 and C2, a wiring terminal SWD and a BOOT; pins at two ends of the crystal oscillator Y1 are respectively connected with the pin 2 and the pin 3 of the chip STM32F042K6T 6; one end of the capacitor C1 is connected with a signal ground VSS, and the other end of the capacitor C1 is connected with a pin 2 of the chip STM32F042K6T 6; one end of the capacitor C2 is connected with a signal ground VSS, and the other end of the capacitor C2 is connected with a pin 3 of the chip STM32F042K6T 6; one end of the resistor R1 is connected with the pin 2 of the BOOT of the connector, and the other end is connected with the pin 31 of the STM32F042K6T 6; one end of the resistor R27 is connected with a power supply VCC, and the other end is connected with a pin 23 of the STM32F042K6T 6; one end of the resistor R28 is connected with a power supply VCC, and the other end is connected with the pin 24 of the STM32F042K6T 6;
IN the figure, WS _ IN1, WS _ IN2, WS _ IN3 and WS _ IN4 are respectively set as the input pins of the microcontroller for the water leakage alarm signal; I2C1_ SDA and I2C1_ SCL are set as temperature/humidity sensor input pins and are used for connecting a temperature/humidity sensor chip; CAN _ RX and CAN _ TX are set as CAN communication pins of the microcontroller and are used for being connected with a CAN bus communication chip.
Fig. 2 is a schematic diagram of a water leakage detection logic comparison circuit of the present invention; the water leakage detection logic comparison circuit mainly comprises a comparator LM339N, resistors R5, R6, R7, R8, R9 and R26, a capacitor C5 and a wiring terminal WS 1; the pin 1 and the pin 2 of the wiring terminal WS1 are respectively two input pins of the water leakage detection sensor, and are respectively and electrically connected to two electrode type contact copper pins of the water leakage detection sensor; the resistors R5, R6 and R26 are connected in series, and the common series pin of the resistors R5 and R26 is respectively connected into the pin 4 of the comparator LM339N and the pin 1 of the wiring terminal WS 1; the other end of the resistor R5 is connected to a power supply of + 5V; the other end of the resistor R6 is connected to a signal ground VSS and is simultaneously connected to a pin 2 of the connecting terminal WS 1; the resistors R7 and R8 are connected in series, and the common end of the two resistors is connected to the pin 5 of the comparator LM 339N; the other end of the resistor R7 is connected to a power supply of + 5V; the other end of the resistor R8 is connected to a signal ground VSS; the resistor R9 is connected across the pin 2 and VCC + end of the comparator; one end of the capacitor C5 is connected with a power supply with +5V, and the other end is connected with a signal ground VSS; the pin VCC + of the comparator LM339N is connected to the power supply +5V, and the pin VCC-is connected to the signal ground VSS; pin 2 of the comparator LM339N is defined as WS _ IN1 and is connected into the microcontroller chip; when water leakage does not occur, the pin 1 and the pin 2 of the water leakage sensor WS1 are in an off state, the voltage of the pin 4 of the LM339N is higher than the voltage level of the pin 5, and the output of the pin 2 of the LM339N is at a high level; when water leakage occurs, the pin 1 and the pin 2 of the water leakage sensor WS1 are in a short-circuit state, the resistors R6 and R26 are in a short-circuit state, the level of the pin 4 of the LM339N is pulled down to VSS, and the output of the pin 2 of the LM339N is in a low level; the microcontroller judges whether water leakage occurs or not by detecting the high-low level change of the WS _ IN1 pin;
FIG. 3 is a schematic diagram of the temperature/humidity detection circuit of the present invention; the temperature/humidity detection circuit schematic diagram mainly comprises a temperature/humidity sensor SHT20, resistors R2 and R3 and a capacitor C3; the capacitor C3 is connected across the pin 2 and the pin 5 of the temperature/humidity sensor SHT20, and one end of the capacitor C3 is connected with a power supply +3.3V, and the other end is connected with a signal ground VSS; one end of the resistor R2 is connected with a power supply with a voltage of +3.3V, and the other end is connected with a pin 1 of the temperature/humidity sensor; one end of the pin resistor R3 is connected with a power supply of +3.3V, and the other end is connected with a pin 6 of the temperature/humidity sensor; the pin 1 and the pin 6 of the temperature/humidity sensor are respectively connected to the pins I2C1_ SDA and I2C1_ SCL of the microcontroller;
FIG. 4 is a schematic diagram of a CAN communication interface circuit of the present invention; the CAN communication interface circuit schematic diagram mainly comprises a chip SN65HVD230D, a resistor R4, a capacitor C4 and a wiring terminal CAN; the resistor R4 is a matching resistor with the resistance value of 120 ohms, one end of the resistor R4 is connected to the pin 6 of the chip SN65HVD230D, and the other end of the resistor R4 is connected to the pin 7 of the chip SN65HVD 230D; pin 6 of the chip SN65HVD230D is directly connected to pin 2 of the connection terminal CAN; pin 7 of the chip SN65HVD230D is directly connected to pin 1 of the connection terminal CAN; a pin 3 of the wiring terminal CAN is connected to a signal ground VSS; pin 3 of the chip SN65HVD230D is directly connected to +3.3V of the power supply; pin 2 of the chip SN65HVD230D is directly connected to a signal ground VSS; one end of the capacitor C4 is connected with +3.3V of a power supply, and the other end of the capacitor C4 is connected with a signal ground VSS; pin 1 and pin 4 of the chip SN65HVD230D are CAN bus communication interfaces for connecting CAN _ RX and CAN _ TX pins of the microcontroller;
FIG. 5 is the installation schematic diagram in the sealed cabin of the water leakage detection sensor of the utility model, wherein 1 and 2 are respectively a bottom water leakage detection sensor and a liquid level upper limit water leakage detection sensor, the bottom water leakage detection sensor is used for detecting a water leakage signal at the bottom of the sealed cabin, the liquid level upper limit water leakage detection sensor is used for detecting water leakage, the water level upper limit alarms, the liquid level upper limit water leakage detection sensor is generally installed higher than the bottom water leakage detection sensor, the distance h is approximately between 3 cm and 5cm, once the liquid level upper limit water leakage detection signal is effective, the module promptly informs the automatic driving unit to take effective measures to float;
the utility model discloses concrete theory of operation does:
combine fig. 6 to be the utility model discloses a deep sea underwater robot sealed cabin is with detecting module structure schematic diagram that leaks carries out concrete theory of operation and explains as follows: the water leakage detection module for the deep sea underwater robot sealed cabin mainly comprises 4 water leakage detection sensors, a logic comparison circuit, a microcontroller, a CAN bus interface circuit, a temperature/humidity sensor, a DC/DC direct current conversion circuit and an automatic driving unit; the 4 water leakage detection sensors are respectively arranged at the bottommost part of the sealed cabin and are easy to leak water, wherein the water leakage sensor 1 and the water leakage sensor 2 are water leakage detection sensors at the bottom of the sealed cabin; the water leakage sensor 3 and the water leakage sensor 4 are upper limit detection sensors of the water level of the sealed cabin, are respectively arranged on the inner wall of the sealed cabin and are approximately 3-5cm away from the water leakage sensor 1 and the water leakage sensor 2; once the water leakage sensor 1 and the water leakage sensor 2 detect a water leakage alarm signal of the sealed cabin, the water leakage alarm signal is connected to the logic comparison circuit, the logic comparison circuit converts the water leakage alarm signal into a high-low level conversion signal and inputs the high-low level conversion signal into the microcontroller, the microcontroller simultaneously acquires the temperature value and the humidity value of the temperature/humidity sensor, and logically judges whether the water leakage of the sealed cabin is effective or not through a weighting mode, so that the water leakage alarm signal caused by condensed water in the sealed cabin is eliminated; once the water leakage signal is effective, the microcontroller uploads the water leakage alarm signal to the automatic driving unit through the CAN bus interface circuit; when the water leakage signal is effective, the upper limit detection sensor of the water level of the sealed cabin detects that the signal is effective at the same time, and the microcontroller uploads an emergency water leakage signal to the automatic driving unit through the CAN bus interface circuit and requests the automatic driving unit to take emergency self-rescue measures;
as shown in fig. 7, a method for detecting water leakage of a deep-sea underwater robot sealed cabin comprises the following steps:
collecting water leakage information and water leakage water level upper limit information through a water leakage detection sensor, filtering the water leakage information and the water leakage water level upper limit information, and sending the water leakage information and the water leakage water level upper limit information to a logic comparison circuit;
acquiring temperature information and humidity information inside the sealed cabin through a temperature/humidity sensor in a temperature/humidity detection circuit, processing the temperature information and the humidity information to obtain a temperature/humidity value, and sending the temperature/humidity value to a microcontroller;
the logic comparison circuit carries out logic judgment on the processed water leakage information and the water leakage water level upper limit information, converts the processed water leakage information and the processed water leakage water level upper limit information into a level signal and inputs the level signal into the microcontroller;
the microcontroller carries out logic judgment on the temperature/humidity value and the level signal and sends a judgment result, namely an alarm signal to an external automatic driving unit through a CAN bus communication interface circuit.
In the utility model, the information of the water leakage sensor and the temperature/humidity sensor is calculated in a weighting way, and each sensor has a weighting coefficient; the higher the detection precision of the sensor is, the larger the weight ratio is; the lower the detection precision of the sensor is, the smaller the weight ratio is;
the water leakage sensor judgment criterion is as follows: determining that water is leaked when L is 1; judging that the water is not leaked when L is 0;
judging criteria of the humidity sensor are as follows: h is more than or equal to 85 percent, and water leakage is judged; h is more than 60% and less than 85%, and the calculation is carried out according to the water leakage judgment result; h is less than or equal to 60 percent, and the water leakage is judged;
in this embodiment, a 4-way water leakage sensor is taken as an example, and a water leakage determination formula is as follows: k ═ w1L1+w2L2+w3L3+w4L4And K is more than or equal to 0 and less than or equal to 1. Where K is the final output, w1、w2、w3、w4The weighting coefficient of the water leakage sensor; l is1、L2、L3、L4Judging a criterion result for the water leakage sensor; beta is the weighting coefficient of the humidity sensor; h is a judgment criterion result of the humidity sensor;
combining the water leakage judgment conditions in the following table, the specific judgment criteria are as follows:
[1] when the 4-way water leakage sensors do not detect water leakage, the humidity sensor judges that the humidity value H is less than or equal to 60 percent, the result K is calculated to be less than 0.6, and the judgment result is no water leakage;
[2] when the 4-path water leakage sensors do not detect water leakage, the humidity sensor judges that the humidity value H is more than or equal to 85 percent, the calculated result K is more than or equal to 0.85, and the judgment result is water leakage;
[3] when the water leakage is detected by any 1 path of the bottom water leakage sensor, the humidity sensor judges that the humidity value H is more than or equal to 60 percent, K is more than or equal to 0.6 and less than 0.85 after calculation, and the judgment result is water leakage;
[4] when the water leakage is detected by any 1 path of the bottom water leakage sensor, the humidity sensor judges that the humidity value H is less than 60 percent, the result K is calculated to be less than 0.6, and the judgment result is no water leakage;
[5] when the water leakage is detected in the 2-way water leakage sensor at the bottom, the humidity sensor judges that the humidity value is not counted, the calculated result K is more than or equal to 0.85, and the judgment result is water leakage;
[6] when the water leakage is detected by the bottom of the same sealing end face and the upper limit water leakage sensor, the humidity sensor judges that the humidity value H is more than or equal to 60 percent, K is more than or equal to 0.6 and less than 0.85 after calculation, and the judgment result is water leakage;
[7] when the water leakage is detected by the bottom water leakage sensor 2 ways, the water leakage is detected by the upper limit water leakage sensor 2 ways, the humidity value is determined to be not counted by the humidity sensor, the calculated result K is more than or equal to 0.85, and the water leakage is determined as the result.
Claims (8)
1. The utility model provides a deep sea underwater robot sealed cabin is with detection module that leaks which characterized in that includes: leak water detection sensor (1), logic comparison circuit (2), microcontroller (3), temperature/humidity detection circuitry (4), CAN bus communication interface circuit (5) and DC/DC power conversion circuit (6), wherein:
the water leakage detection sensor (1) is installed in a sealed cabin and connected with the logic comparison circuit (2), the logic comparison circuit (2) is connected with the microcontroller (3), the temperature/humidity detection circuit (4) is connected with the microcontroller (3), the CAN bus communication interface circuit (5) is connected with the microcontroller (3), and the DC/DC power supply conversion circuit (6) is respectively connected with the logic comparison circuit (2), the microcontroller (3) and the temperature/humidity detection circuit (4).
2. The water leakage detection module for the deep sea underwater robot sealed cabin according to claim 1, wherein the number of the water leakage detection sensors (1) is four, wherein the water leakage detection sensor a and the water leakage detection sensor b are respectively installed at a seam between the bottom of the sealed cabin and two side walls of the sealed cabin, and the water leakage detection sensor c and the water leakage detection sensor d are respectively installed on two side walls of the sealed cabin and have a height difference with the water leakage detection sensor a and the water leakage detection sensor b.
3. The water leakage detection module for the deep sea underwater robot sealed cabin according to claim 1, characterized in that the logic comparison circuit (2) has four paths, and each path is connected with a water leakage detection sensor (1).
4. The water leakage detection module for the deep sea underwater robot sealed cabin according to claim 1, characterized in that the CAN bus communication interface circuit (5) is connected with an external automatic driving unit.
5. The water leakage detection module for the deep sea underwater robot capsule as recited in claim 1 or 4, characterized in that the CAN bus communication interface circuit (5) comprises an isolation circuit and a CAN bus communication interface, wherein the CAN bus communication interface is connected with the microcontroller (3) through the isolation circuit, and the CAN bus communication interface is connected with an external automatic driving unit.
6. The module for detecting water leakage in a deep sea underwater robot capsule according to claim 1, wherein the temperature/humidity detection circuit (4) comprises: the temperature/humidity sensor and the operational amplification circuit, wherein the temperature/humidity sensor is connected with the microcontroller (3) through the operational amplification circuit.
7. The water leakage detection module for the deep sea underwater robot sealed cabin according to claim 1, characterized in that the logic comparison circuit (2) is:
the connecting terminal WS1 is used as the input end of a logic comparison circuit (2) and is connected with a water leakage detection sensor (1), a pin 1 of the connecting terminal WS1 is connected with the positive input end of a comparator, a pin 2 of the connecting terminal WS1 is connected with the negative input end of the comparator through a resistor R8, a resistor R26 and a resistor R6 which are connected in series are connected between the pin 1 and the pin 2 of the connecting terminal WS1, the pin 2 of the connecting terminal WS1 is grounded, the positive input end of the comparator is connected with the output end of the comparator through the resistor R5 and the resistor R9 in sequence, the negative input end of the comparator is connected through the resistor R7 in sequence, the resistor R9 is connected with the output end of the comparator, the node between the resistor R7 and the resistor R9 is connected with a power supply and is grounded through the capacitor C5, the output end of the comparator is used as the output end of the logic comparison circuit (2), the reverse input end of the comparator is grounded through the resistor R8, and the positive input end of the comparator is connected with external voltage through the resistor R5.
8. The water leakage detection module for the deep sea underwater robot capsule as recited in claim 7, wherein the comparator is a chip of type LM 339N.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114674361A (en) * | 2022-02-25 | 2022-06-28 | 中国电子科技集团公司第二十九研究所 | Multi-parameter health monitoring device, method and system for liquid-cooled electronic equipment |
| CN114719896A (en) * | 2022-02-25 | 2022-07-08 | 中国电子科技集团公司第二十九研究所 | Device, method and system for monitoring environment of offshore closed space |
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2021
- 2021-01-14 CN CN202120094425.9U patent/CN214149700U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114674361A (en) * | 2022-02-25 | 2022-06-28 | 中国电子科技集团公司第二十九研究所 | Multi-parameter health monitoring device, method and system for liquid-cooled electronic equipment |
| CN114719896A (en) * | 2022-02-25 | 2022-07-08 | 中国电子科技集团公司第二十九研究所 | Device, method and system for monitoring environment of offshore closed space |
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