Water leakage detection device and underwater robot

Abstract

The utility model provides a water leakage detection device and an underwater robot. The water leakage detection device is used for the watertight head, and comprises a resistance value detection unit which is connected with the watertight head and is used for detecting the resistance value of the watertight head and outputting a watertight head level signal; the microprocessor is connected with the resistance value detection unit and used for receiving the watertight head level signal output by the resistance value detection unit and determining whether the watertight head leaks water or not according to the watertight head level signal; the switch unit is respectively connected with the microprocessor, the power supply and the watertight head; under the condition that the watertight head does not leak water, the microprocessor is used for controlling the switch unit to be switched on, so that the power supply supplies power to the watertight head; and under the condition that the watertight head leaks water, the microprocessor is used for controlling the switch unit to be switched off, so that the power supply stops supplying power to the watertight head. And if the watertight head leaks water, the switch unit in the water leakage detection device can immediately cut off the power supply to prevent saline water from electrolyzing a PIN needle of the watertight head, so that electronic parts of the underwater robot are effectively protected from being damaged.

Description

Technical Field

[0001] The present application relates to the technical field of underwater robot water leakage detection, and in particular to a water leakage detection device and an underwater robot. Background Art

[0002] When the watertight head of an underwater robot is used underwater, the conventional practice is to protect the watertight head with a charged metal PIN needle with a watertight head plug to prevent the metal PIN needle of the watertight head from contacting seawater.

[0003] However, if the plug of the watertight head is lost, the watertight head of the underwater robot will be directly exposed to salt water environments such as seawater, and seawater will penetrate into the watertight head. In addition, when the PIN pin of the watertight head is charged, because the seawater is a sodium chloride liquid, it will cause an electrolytic effect on the PIN pin of the watertight head, which will accelerate the destruction of the PIN pin of the watertight head, causing damage to the watertight head of the underwater robot, resulting in loss of functions associated with the watertight head, thereby affecting the use of the product. Furthermore, if the PIN pin of the watertight head is continuously corroded and damaged, it will cause the watertight head to leak completely, thereby causing the electronic compartment of the underwater drone to be damaged by water leakage, causing water damage to the underwater robot.

[0004] The above information disclosed in the Background section is only for enhancement of understanding of the background of the present application and therefore it may contain information that does not constitute the prior art that is already known to a person of ordinary skill in the art. Utility Model Content

[0005] In order to solve at least one of the above problems, the present application proposes a water leakage detection device and an underwater robot.

[0006] According to the first aspect of the present application, at least one embodiment of the present application provides a water leakage detection device for a watertight head, comprising: a resistance detection unit, connected to the watertight head, for detecting the resistance of the watertight head and outputting a watertight head level signal; a microprocessor, connected to the resistance detection unit, for receiving the watertight head level signal output by the resistance detection unit, and determining whether the watertight head is leaking according to the watertight head level signal; a switch unit, connected to the microprocessor, a power supply and the watertight head respectively; when the watertight head is not leaking, the microprocessor is used to control the switch unit to be turned on so that the power supply supplies power to the watertight head; when the watertight head is leaking, the microprocessor is used to control the switch unit to be turned off so that the power supply stops supplying power to the watertight head.

[0007] For example, in some embodiments of the present application, the resistance detection unit includes: a first resistor, one end of which is connected to a first power supply, and the other end of which is connected to the watertight head and a signal input end of the microprocessor.

[0008] For example, in some embodiments of the present application, the switching unit includes: a first MOS tube, the source of the first MOS tube is connected to the power supply, and the drain is connected to the watertight head; a second resistor, the second resistor is connected in parallel with the gate and source of the first MOS tube; a third resistor, one end of the third resistor is connected to the gate of the first MOS tube; a second MOS tube, the drain of the second MOS tube is connected to the other end of the third resistor, the source is grounded, and the gate is connected to the signal output end of the microprocessor; a fourth resistor, one end of the fourth resistor is connected to the second power supply, and the other end is connected to the gate of the second MOS tube.

[0009] For example, in some embodiments of the present application, when the watertight head is not leaking, the watertight head level signal input to the signal input terminal of the microprocessor is greater than a first threshold, and the signal output terminal of the microprocessor outputs a high level; when the watertight head is leaking, the watertight head level signal input to the signal input terminal of the microprocessor is less than or equal to the first threshold, and the signal output terminal of the microprocessor outputs a low level.

[0010] For example, in some embodiments of the present application, when the signal output end outputs a high level, the second MOS tube is turned on, the first MOS tube is turned on, and the power supply supplies power to the watertight head through the first MOS tube; when the signal output end outputs a low level, the second MOS tube is turned off, the first MOS tube is turned off, and the power supply stops supplying power to the watertight head.

[0011] According to the second aspect of the present application, at least one embodiment of the present application provides a water leakage detection device for a watertight head, comprising: a resistance detection unit connected to the watertight head, for determining the resistance of the watertight head; a switch unit, connected to the resistance detection unit, a power supply and the watertight head respectively, the switch unit being used to be turned on or off according to the on or off condition of the resistance detection unit; when the watertight head is not leaking, the resistance detection unit and the switch unit are turned on so that the power supply supplies power to the watertight head; when the watertight head is leaking, the resistance detection unit and the switch unit are turned off so that the power supply stops supplying power to the watertight head.

[0012] For example, in some embodiments of the present application, the resistance detection unit includes: a third MOS tube, the gate of the third MOS tube is connected to the watertight head, and the source is grounded; a fifth resistor, one end of the fifth resistor is connected to the power supply, and the other end is connected to the gate of the third MOS tube; a sixth resistor, one end of the sixth resistor is connected to the third power supply, and the other end is connected to the drain of the third MOS tube.

[0013] For example, in some embodiments of the present application, the switching unit includes: a fourth MOS tube, the source of the fourth MOS tube is connected to the power supply, and the drain is connected to the watertight head; a seventh resistor, the seventh resistor is connected in parallel with the gate and source of the fourth MOS tube; an eighth resistor, one end of the eighth resistor is connected to the gate of the fourth MOS tube, and the other end is connected to the drain of the third MOS tube.

[0014] For example, in some embodiments of the present application, when the watertight head is not leaking, the third MOS tube is turned on, the fourth MOS tube is turned on, and the power supply supplies power to the watertight head through the fourth MOS tube; when the watertight head is leaking, the third MOS tube is turned off, the fourth MOS tube is turned off, and the power supply stops supplying power to the watertight head.

[0015] For example, in some embodiments of the present application, it also includes: a microprocessor connected to the drain of the third MOS tube to receive water leakage information of the watertight head.

[0016] According to the third aspect of the present application, at least one embodiment of the present application provides an underwater robot, comprising: a watertight head; a water leakage detection device as described in any one of the first aspect, or a water leakage detection device as described in any one of the second aspect, the water leakage detection device being connected to the watertight head for determining whether the watertight head is leaking; and a power supply connected to the water leakage detection device, and when the watertight head is not leaking, the power supply supplies power to the watertight head through the water leakage detection device.

[0017] For example, in some embodiments of the present application, the watertight head includes: a water leakage detection strip, one end of which is grounded, and the other end is connected to the water leakage detection device.

[0018] For example, in some embodiments of the present application, it also includes: a memory connected to the water leakage detection device, used to store the leakage status information of the watertight head; an alarm, connected to the water leakage detection device, used to alarm when the watertight head leaks.

[0019] The present application provides a water leakage detection device and an underwater robot. By adding a water leakage detection strip in the watertight head, the water leakage detection device can detect the working condition of the watertight head in real time. If the watertight head leaks, the switch unit in the water leakage detection device will immediately cut off the power supply to prevent the salt water from electrolyzing the PIN needle of the watertight head, thereby effectively protecting the electronic components of the underwater robot from damage. The switch unit is controlled by a microprocessor to improve the accuracy of water leakage detection, avoid false detection, and improve the reliability and accuracy of water leakage detection. In addition, the underwater robot has an alarm and recording function. When a watertight head leaks, it will not only trigger an alarm to remind the user, but also record this information in the memory of the underwater robot to facilitate manufacturers and maintenance personnel to carry out timely maintenance and repairs.

[0020] It should be understood that the foregoing general description and the following detailed description are exemplary only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] By describing in detail exemplary embodiments thereof with reference to the accompanying drawings, the above and other objects, features and advantages of the present application will become more apparent. The accompanying drawings described below are only some embodiments of the present application, and are not intended to limit the present application.

[0022] Figure 1 This is the first embodiment of the schematic diagram of the water leakage detection device of the present application;

[0023] Figure 2 This is the second embodiment of the schematic diagram of the water leakage detection device of the present application;

[0024] Figure 3 is a schematic diagram of a watertight head according to an embodiment of the present application;

[0025] Figure 4 It is a schematic diagram of an underwater robot according to an embodiment of the present application. DETAILED DESCRIPTION

[0026] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this application will be comprehensive and complete and will fully convey the concepts of the example embodiments to those skilled in the art. The same reference numerals in the figures represent the same or similar parts, and thus their repeated description will be omitted.

[0027] The described features, structures or characteristics may be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present disclosure. However, those skilled in the art will appreciate that the technical solutions of the present disclosure may be practiced without one or more of these specific details, or other modes, components, materials, devices, etc. may be adopted. In these cases, known structures, methods, devices, implementations, materials or operations will not be shown or described in detail.

[0028] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations or steps, nor do they have to be executed in the order described. For example, some operations or steps can be decomposed, and some operations or steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0029] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices.

[0030] Those skilled in the art will appreciate that the drawings are merely schematic diagrams of example embodiments, and the modules or processes in the drawings are not necessarily necessary for implementing the present application, and therefore cannot be used to limit the scope of protection of the present application.

[0031] Figure 1 This is the first embodiment of the schematic diagram of the water leakage detection device of the present application.

[0032] like Figure 1 As shown, the water leakage detection device 10 includes a resistance detection unit 101, a microprocessor 102 and a switch unit 103. The resistance detection unit 101 is connected to the watertight head 20, and is used to detect the resistance of the watertight head and output a watertight head level signal. The microprocessor 102 is connected to the resistance detection unit 101, and is used to receive the watertight head level signal output by the resistance detection unit 101, and determine whether the watertight head is leaking according to the watertight head level signal. The switch unit 103 is connected to the microprocessor 101, the power supply 30 and the watertight head 20 respectively. When the watertight head 20 is not leaking, the microprocessor 102 is used to control the switch unit 103 to be turned on, so that the power supply 30 supplies power to the watertight head 20. When the watertight head 20 is leaking, the microprocessor 102 is used to control the switch unit 103 to be turned off, so that the power supply 30 stops supplying power to the watertight head 20.

[0033] According to the exemplary embodiment, the resistance value detection unit 101 includes a first resistor R1. One end of the first resistor R1 is connected to the first power supply VDD1, and the other end is connected to the waterproof head 20 and the signal input terminal GPIO-IN of the microprocessor 102.

[0034] The switch unit includes a first MOS transistor Q1, a second MOS transistor Q2, a second resistor R2, a third resistor R3, and a fourth resistor R4. The source of the first MOS transistor Q1 is connected to the power supply 30, and the drain is connected to the waterproof head 20. The second resistor R2 is connected in parallel with the gate and the source of the first MOS transistor Q1. One end of the third resistor R3 is connected to the gate of the first MOS transistor Q1. The drain of the second MOS transistor Q2 is connected to the other end of the third resistor R3, the source is grounded, and the gate is connected to the signal output terminal GPIO-OUT of the microprocessor 102. One end of the fourth resistor R4 is connected to the second power supply VDD2, and the other end is connected to the gate of the second MOS transistor Q2.

[0035] According to some embodiments, the first MOS transistor Q1 is a PMOS transistor, and the second MOS transistor is an NMOS transistor.

[0036] As Figure 3 shown, the waterproof head 20 provided in the present application includes a metal PIN needle and a water leakage detection strip. The water leakage detection strip is connected to the metal PIN needle. One end of the water leakage detection strip is grounded, and the other end is connected to a water leakage detection device for the water leakage detection device to detect.

[0037] When the waterproof head 20 does not leak, the water leakage detection strip in the waterproof head 20 is not attached with salt water or salt mist. The waterproof head level signal input to the signal input terminal GPIO-IN of the microprocessor 102 is a level signal pulled high by the first resistor R1, that is, VDD1, which is greater than the set first threshold. Then the microprocessor 102 determines that the waterproof head 20 is in a non-leaking state at this time. The signal output terminal GPIO-OUT of the microprocessor 102 outputs a high level. When the signal output terminal GPIO-OUT outputs a high level, the second MOS transistor Q2 is turned on, a voltage difference is generated across the second resistor R2, VG < VS of the first MOS transistor Q1, the first MOS transistor Q1 is turned on, and the power supply 30 supplies power to the waterproof head 20 through the first MOS transistor Q1. At this time, the PIN needle connected to the waterproof head is charged.

[0038] In the case of watertight head leakage, the watertight detection strip in the watertight head 20 has salt water or salt mist attached, and the resistance at both ends of the watertight detection strip can be equivalent to a short circuit or an extremely low resistance state. The watertight head level signal input by the signal input terminal GPIO-IN of the microprocessor 102 is a pulled-down level, which is less than or equal to the set first threshold value, and the microprocessor 102 determines that the watertight head 20 is in a watertight state at this time. The signal output terminal GPIO-OUT of the microprocessor 102 outputs a low level. In the case where the signal output terminal GPIO-OUT outputs a low level, the second MOS tube Q2 is turned off, the voltage difference between the two ends of the second resistor R2 disappears, the VG of the first MOS tube Q1 is VS, the first MOS tube Q1 is turned off, and the power supply 30 stops supplying power to the watertight head 20. At this time, the PIN pin connected to the watertight head is not charged.

[0039] The present application provides a water leakage detection device, which can detect the working condition of the watertight head in real time by adding a water leakage detection strip in the watertight head; if the watertight head leaks, the switch unit in the water leakage detection device will immediately cut off the power supply to prevent salt water from electrolyzing the PIN needles of the watertight head, thereby effectively protecting the electronic components of the underwater robot from damage; a microprocessor is used to control the switch unit to improve the accuracy of water leakage detection, avoid false detection, and improve the reliability and accuracy of water leakage detection.

[0040] Figure 2 This is the second embodiment of the schematic diagram of the water leakage detection device of the present application.

[0041] like Figure 2 As shown, the water leakage detection device 10 includes a resistance detection unit 201 and a switch unit 202. The resistance detection unit 201 is connected to the watertight head 20 to determine the resistance of the watertight head 20. The switch unit 202 is connected to the resistance detection unit 201, the power supply 30 and the watertight head 20 respectively. The switch unit 202 is used to turn on or off according to the on or off condition of the resistance detection unit 201.

[0042] When the watertight head 20 is not leaking, the resistance detection unit 201 and the switch unit 202 are turned on, so that the power supply 30 supplies power to the watertight head 20. When the watertight head 20 is leaking, the resistance detection unit 201 and the switch unit 202 are turned off, so that the power supply 30 stops supplying power to the watertight head 20.

[0043] According to an exemplary embodiment, the resistance detection unit 201 includes a third MOS transistor Q3, a fifth resistor R5, and a sixth resistor R6. The gate of the third MOS transistor Q3 is connected to the watertight head 20, and the source is grounded. One end of the fifth resistor R5 is connected to the power supply 30, and the other end is connected to the gate of the third MOS transistor Q3. One end of the sixth resistor R6 is connected to the third power supply VDD3, and the other end is connected to the drain of the third MOS transistor Q3.

[0044] The switch unit 202 includes a fourth MOS transistor Q4, a seventh resistor R7, and an eighth resistor R8. The source of the fourth MOS transistor Q4 is connected to the power supply 30, and the drain is connected to the watertight head 20. The seventh resistor R7 is connected in parallel with the gate and source of the fourth MOS transistor Q4. One end of the eighth resistor R8 is connected to the gate of the fourth MOS transistor Q4, and the other end is connected to the drain of the third MOS transistor Q3.

[0045] According to some embodiments, the third MOS transistor Q3 is an NMOS transistor, and the fourth MOS transistor Q4 is a PMOS transistor.

[0046] When the watertight head does not leak, the leakage detection strip in the watertight head 20 is not attached with brine or salt mist. The gate of the third MOS transistor Q3 is pulled high through the fifth resistor R5 and is at a high level. Then the third MOS transistor Q3 conducts, a voltage difference is generated across the seventh resistor R7, VG < VS of the fourth MOS transistor Q4, the fourth MOS transistor Q4 conducts, and the power supply 30 supplies power to the watertight head 20 through the fourth MOS transistor Q4. At this time, the PIN pins connected to the watertight head are charged.

[0047] When the watertight head leaks, the leakage detection strip in the watertight head 20 is attached with brine or salt mist. The resistance across the leakage detection strip can be equivalent to a short circuit or an extremely low resistance state. The gate of the third MOS transistor Q3 is short-circuited to GND through the leakage detection strip and is forced to be pulled low. Then the third MOS transistor Q3 turns off, the voltage difference across the seventh resistor R7 disappears, VG = VS of the fourth MOS transistor Q4, the fourth MOS transistor Q4 turns off, and the power supply 30 stops supplying power to the watertight head 20. At this time, the PIN pins connected to the watertight head are not charged.

[0048] According to some embodiments, the leakage detection device 10 further includes a microprocessor, and its signal input terminal GPIO is connected to the drain of the third MOS transistor Q3 to receive the leakage information of the watertight head.

[0049] When the watertight head does not leak, the third MOS transistor Q3 conducts, and the signal input terminal GPIO is short-circuited to the ground. At this time, a low level is input to the signal input terminal, and the microprocessor determines that there is no leakage.

[0050] When the watertight head leaks, the third MOS transistor Q3 turns off, and the signal input terminal GPIO is pulled high by the sixth resistor R6. At this time, a high level is input to the signal input terminal, and the microprocessor determines that there is a leak.

[0051] This application also provides an underwater robot, such as Figure 4As shown, the underwater robot includes the water leakage detection device 10, the watertight head 20 and the power supply 30 as described above. The water leakage detection device 10 is connected to the watertight head 20 to determine whether the watertight head 20 is leaking. The power supply 30 is connected to the water leakage detection device 10. When the watertight head 20 is not leaking, the power supply 30 supplies power to the watertight head 20 through the water leakage detection device 10.

[0052] According to some embodiments, the underwater robot further includes a memory 40. The memory 40 is connected to the microprocessor in the water leakage detection device 10 and is used to store water leakage status information of the watertight head so that the user can query whether the watertight head is leaking.

[0053] According to some embodiments, the underwater robot further includes an alarm 50. The alarm 50 is connected to the microprocessor in the water leakage detection device 10. The alarm 50 is used to receive information sent by the microprocessor in case of water leakage in the watertight head, and to perform alarm processing in time, so that the user can perform timely maintenance and recover property losses.

[0054] The present application provides an underwater robot. By adding a water leakage detection strip in the watertight head, the water leakage detection device can detect the working condition of the watertight head in real time. If the watertight head leaks, the switch unit in the water leakage detection device will immediately cut off the power supply to prevent the salt water from electrolyzing the PIN needle of the watertight head, thereby effectively protecting the electronic components of the underwater robot from damage. The switch unit is controlled by a microprocessor to improve the accuracy of water leakage detection, avoid false detection, and improve the reliability and accuracy of water leakage detection. In addition, the underwater robot has an alarm and recording function. When a watertight head leaks, it will not only trigger an alarm to remind the user, but also record this information in the memory of the underwater robot to facilitate manufacturers and maintenance personnel to carry out timely maintenance and repair.

[0055] It should be clearly understood that the present application describes how to form and use specific examples, but the present application is not limited to any details of these examples. On the contrary, based on the teaching of the content disclosed in the present application, these principles can be applied to many other embodiments.

[0056] In addition, it should be noted that the above figures are only schematic illustrations of the processes included in the method according to the exemplary embodiments of the present application, and are not intended to be limiting. It is easy to understand that the processes shown in the above figures do not indicate or limit the time sequence of these processes. In addition, it is also easy to understand that these processes can be performed synchronously or asynchronously, for example, in multiple modules.

[0057] The exemplary embodiments of the present application are specifically shown and described above. It should be understood that the present application is not limited to the detailed structures, configurations or implementations described herein; on the contrary, the present application is intended to cover various modifications and equivalent configurations included in the spirit and scope of the appended claims.

Claims

1. A water leakage detection device for a watertight head, characterized in that: include: A resistance detection unit, connected to the watertight head, for detecting the resistance of the watertight head and outputting a watertight head level signal; a microprocessor connected to the resistance detection unit, configured to receive a watertight head level signal output by the resistance detection unit, and determine whether the watertight head is leaking according to the watertight head level signal; A switch unit, connected to the microprocessor, the power supply and the watertight head respectively; When the watertight head is not leaking, the microprocessor is used to control the switch unit to be turned on so that the power supply supplies power to the watertight head; In the case that the watertight head leaks, the microprocessor is used to control the switch unit to be disconnected so that the power supply stops supplying power to the watertight head.

2. The water leakage detection device according to claim 1, characterized in that: The resistance detection unit comprises: A first resistor, one end of which is connected to a first power source, and the other end of which is connected to the watertight head and a signal input end of the microprocessor.

3. The water leakage detection device according to claim 1, characterized in that: The switch unit comprises: A first MOS tube, wherein the source of the first MOS tube is connected to the power supply, and the drain of the first MOS tube is connected to the watertight head; a second resistor, wherein the second resistor is connected in parallel with the gate and source of the first MOS tube; a third resistor, one end of which is connected to the gate of the first MOS tube; A second MOS transistor, wherein the drain of the second MOS transistor is connected to the other end of the third resistor, the source is grounded, and the gate is connected to the signal output end of the microprocessor; A fourth resistor, one end of the fourth resistor is connected to the second power supply, and the other end is connected to the gate of the second MOS tube.

4. The water leakage detection device according to claim 3, characterized in that: When the watertight head is not leaking, the watertight head level signal inputted by the signal input terminal of the microprocessor is greater than a first threshold value, and the signal output terminal of the microprocessor outputs a high level; In the case where the watertight head is leaking, the watertight head level signal inputted by the signal input terminal of the microprocessor is less than or equal to the first threshold value, and the signal output terminal of the microprocessor outputs a low level.

5. The water leakage detection device according to claim 4, characterized in that: When the signal output terminal outputs a high level, the second MOS tube is turned on, the first MOS tube is turned on, and the power supply supplies power to the watertight head through the first MOS tube; When the signal output terminal outputs a low level, the second MOS transistor is turned off, the first MOS transistor is turned off, and the power supply stops supplying power to the watertight head.

6. A water leakage detection device for a watertight head, characterized in that: include: a resistance detection unit, connected to the watertight head, for determining the resistance of the watertight head; A switch unit, connected to the resistance detection unit, the power supply and the watertight head respectively, and the switch unit is used to turn on or off according to the on or off condition of the resistance detection unit; When the watertight head is not leaking, the resistance detection unit and the switch unit are turned on, so that the power supply supplies power to the watertight head; In the case that the watertight head leaks, the resistance detection unit and the switch unit are turned off, so that the power supply stops supplying power to the watertight head.

7. The water leakage detection device according to claim 6, characterized in that: The resistance detection unit comprises: A third MOS tube, wherein the gate of the third MOS tube is connected to the watertight head, and the source is grounded; a fifth resistor, one end of which is connected to the power supply, and the other end of which is connected to the gate of the third MOS tube; A sixth resistor, one end of the sixth resistor is connected to the third power supply, and the other end of the sixth resistor is connected to the drain of the third MOS tube.

8. The water leakage detection device according to claim 7, characterized in that: The switch unit comprises: a fourth MOS tube, wherein the source of the fourth MOS tube is connected to the power supply, and the drain of the fourth MOS tube is connected to the watertight head; a seventh resistor, the seventh resistor being connected in parallel with the gate and the source of the fourth MOS tube; An eighth resistor, one end of the eighth resistor is connected to the gate of the fourth MOS tube, and the other end of the eighth resistor is connected to the drain of the third MOS tube.

9. The water leakage detection device according to claim 8, characterized in that: When the watertight head is not leaking, the third MOS tube is turned on, the fourth MOS tube is turned on, and the power supply supplies power to the watertight head through the fourth MOS tube; In the case that the watertight head leaks, the third MOS tube is turned off, the fourth MOS tube is turned off, and the power supply stops supplying power to the watertight head.

10. The water leakage detection device according to claim 7, characterized in that: Also includes: The microprocessor is connected to the drain of the third MOS tube to receive the water leakage information of the watertight head.

11. An underwater robot, characterized in that: include: Watertight head; The water leakage detection device according to any one of claims 1 to 5, or the water leakage detection device according to any one of claims 6 to 10, wherein the water leakage detection device is connected to the watertight head and is used to determine whether the watertight head is leaking; as well as A power supply is connected to the water leakage detection device. When the watertight head is not leaking, the power supply supplies power to the watertight head through the water leakage detection device.

12. The underwater robot according to claim 11, characterized in that: The watertight head comprises: A water leakage detection strip, one end of which is grounded, and the other end of which is connected to the water leakage detection device.

13. The underwater robot according to claim 11, characterized in that: Also includes: A memory, connected to the water leakage detection device, and used to store the water leakage status information of the watertight head; An alarm is connected to the water leakage detection device and is used to give an alarm when the watertight head leaks.

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