CN101222397B - Wireless sensor network signal synchronous collection and quasi-live transmission system - Google Patents
Wireless sensor network signal synchronous collection and quasi-live transmission system Download PDFInfo
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Abstract
The invention discloses a wireless sensor network signal synchronous acquisition and on-time and real-time transmission method; wireless nodes in a wireless sensor network are divided into three kinds: a central node, a trunking node and a wireless sensor node, wherein, the central node is connected with a computer of a detection center for data transmission between the network and the computer; the trunking node and the central node are combined to a multi-hop chain type topological structure to realize a data long-distance transmission network; according to the information received from the trunking node, the wireless sensor node selects to join to a detecting unit controlled by a certain trunking node in order to send the own acquired data to the trunking node. In addition, the wireless sensor network adopts vibration signals to sample an initialization mode before the beginning and sample an on-time and real-time data transmission mode after the beginning. The wireless sensor network is characterized in low power consumption, large distribution range, timely and accurate detecting signal transmission, etc., and is suitable for wide popularization in the field of large-scale civil structure vibrating state detection.
Description
Technical field
The present invention relates to the quasi real time transmission technology of a kind of signal synchronous collection and measurement data, specifically be applicable in the multi-hop wireless sensor network that large-scale civil structure vibrational state detects a kind of, realize carrying out synchronized sampling between wireless sensor node, and the measurement data of sensor node is back to the transmission system of inspection center in mode quasi real time.
Background technology
Large-scale civil structure has very important effect in people's life, work, but decades in addition in the century-old use, large-scale civil structure is standing the erosion of adverse circumstances, the natural aging of material, can form the damage accumulation inevitably, cause resisting the ability drop of natural calamity or even normal load, people's the security of the lives and property and the economic construction of country are threatened, therefore, large-scale civil structure is carried out the powerful guarantee that state-detection just becomes its safe handling.
Present widely used large scale structure condition detecting system, need the sensor output signal of different measuring points be sent to signal gathering unit with plain conductor with settling structurally, because transducer is usually away from signal gathering unit, cause stube cable length to increase, this increases the set-up time of system on the one hand, return the stability and the anti-interference difficulty that increased of system, particularly the cable expense of transmission signals and power supply will reach a large portion of detection system overall expenses, make traditional large scale structure condition detecting system poor reliability, have high input, efficient is low.
Along with radio communication, the development of technology such as microprocessor and MEMS makes wireless sensor network that huge development arranged in recent years, be widely used in military affairs, environment, health, the detection of family expenses and some commercial fields, and, have the bigger space that utilizes along with the maturation of technology.Wireless sensor network has many advantages, at first, adopts wireless transmission means, does not need to arrange cable, and the installation and maintenance of system becomes simple.Secondly, the System Fault Tolerance rate improves, and can not influence the operation of whole network because of some node failures of centre.Therefore, wireless sensing and Radio Transmission Technology provide the scheme of new solution for the state-detection of large-scale civil structure.But the state-detection of large scale structure has its some intrinsic characteristics, and the vibration signal that is lower than 200Hz, each measuring point the sample frequency of, vibration signal big as the measuring point distribution must synchronized sampling, and measurement data must in time send back inspection center etc.These characteristics have proposed concrete requirement to the design based on the configuration state detection system of wireless sensor network.Wireless sensor node is battery-powered, how to increase the service life? at the big characteristics of large scale structure state-detection measuring point distribution, how is wireless sensor network arranged? in order to satisfy the requirement of vibration signal synchronous sampling between measuring point, how is the clock of wireless sensor network realized synchronously? and how mixing up the multi-tasks such as transfer of data, signal sampling, clock synchronization, problem all needs to solve to avoid occurring obliterated data, lose synchronously etc.IEEE 802.11 agreements, Zigbee agreement, Bluetooth protocol are the widely used communication protocol modes of present wireless network at present, these agreements are more complicated all, and under the multihop network topology situation, global clock synchronously, aspect existing problems such as the processing of real time business and fairness, and need special chip to realize, can not adapt to the needs of the particularity of large-scale civil structure state-detection fully.
Summary of the invention
The present invention is directed to technical problem to be solved, provide a kind of based on the vibration signal synchronous collection of wireless sensor network and system for transmitting quasi real time.Specifically, a kind of multi-hop wireless sensor network is provided, and in the process of transfer of data, finish clock synchronization between node automatically, can realize that the highest sample frequency is that 16 high accuracy vibration signal synchronous of 200Hz are gathered and transfer of data quasi real time, to overcome the deficiency that existing network communication protocol exists, satisfy the particularity needs of large-scale civil structure state-detection.
The technical scheme that the present invention is adopted for achieving the above object is:
A kind of wireless sensor network is characterized in that the radio node in the wireless sensor network is divided three classes: Centroid, via node and wireless sensor node;
Described Centroid is connected with the inspection center computer, be used for from wireless sensor network collection network topology information and measurement data, send to computer and carry out data processing, and from computer, receive control command, send the radio node in the wireless sensor network wirelessly to;
Described via node is concentricity, and node is formed the remote data transmission network of a multi-hop chain type topological structure, in the detecting unit of oneself being responsible for, collect simultaneously, the data of collecting are transmitted in inspection center's computer through described chain type topological structure handle from the data of wireless sensor node;
Described wireless sensor node selects to add the detecting unit of certain via node control according to the information from via node that receives, so that oneself image data is sent to this via node.
A kind of method of utilizing the described wireless sensor network of claim 1 and carrying out signal synchronous collection and quasi real time transmit is characterized in that this wireless sensor network has two kinds of mode of operations: the quasi real time data-transmission mode after initialize mode before the vibration signal sampling beginning and vibration signal sampling begin;
Described wireless sensor network comprises the steps: in initialize mode
The number of wireless sensor node and their ID number in the detecting unit of a, the jumping figure that identifies the chain type topological structure and the control of each via node,
B, be wireless sensor node allocate communications time slots, and realize all radio nodes and Centroid synchronously;
After the wireless sensor network initialization finishes, send controlling of sampling instruction by Centroid to wireless sensor network by inspection center's computer, comprise the sampling zero hour, sample frequency and the sampling duration;
Wireless sensor node in each detecting unit is determined the zero hour of sampling after receiving the controlling of sampling instruction, network enters quasi real time data-transmission mode after arriving the zero hour of sampling; Described quasi real time data-transmission mode comprises the steps:
The sample frequency that i, wireless sensor node begin is as requested carried out signal sampling, and in the time in sampling interval, and the measurement data of oneself is sent to the via node of this detecting unit in the TDMA mode,
After the data grouping that all wireless sensor nodes send in receiving this unit of ii, each via node, use the time slot of wireless sensor node transmission next time data, the data transmission network of the data process chain type topological structure that receives is sent it back Centroid, consign to inspection center's computer by Centroid and handle.
Described quasi real time data-transmission mode also comprises; The last grade via node is realized the step of clock synchronization in all wireless sensor nodes and the chain type topological structure; When each via node when receiving first packet, it is synchronous to revise clock and afterbody via node, after respectively organize wireless sensor node receive under the packet of unit via node passback, when receiving the packet of synchronous mark, revise local clock, synchronous with affiliated unit via node.
Owing to adopted technique scheme, wireless sensor network signal synchronous collection provided by the invention and quasi-live transmission system, wherein wireless sensor node uses low-power consumption, short-distance wireless transceiver module, at the big characteristics of large scale structure state-detection measuring point distribution, wireless sensor network need be configured to a multihop network topological structure, so that wireless sensor node can cover bigger measured zone.In addition in order to satisfy the requirement of vibration signal synchronous sampling between measuring point, Centroid in this multi-hop wireless sensor network, via node and wireless biography sensor node adopt " embedded " simultaneous techniques, make network in the process of Centroid passback data, to realize clock synchronization with the final jump via node at via node, to realize the whole network clock synchronization, thereby guaranteed that measurement data can in time pass back to inspection center, effectively coordinate transfer of data, signal sampling, the multi-tasks such as clock synchronization are avoided obliterated data, the appearance of problem such as lose synchronously.
Description of drawings
Fig. 1 is the wireless sensor network topology figure that the present invention adopts;
Fig. 2 is the super frame structure that the present invention adopts;
Fig. 3 is an Init frame structure schematic diagram among the present invention;
Fig. 4 is a GCK frame structure schematic diagram among the present invention;
Fig. 5 is a Beacon frame structure schematic diagram among the present invention;
The work schedule that Fig. 6 is via node of the present invention and sensor node under data-transmission mode quasi real time;
Fig. 7 is the vibration signal that different units inner sensor node is gathered among the present invention;
Fig. 8 is the workflow diagram of Centroid of the present invention;
Fig. 9 is the workflow diagram of via node of the present invention;
Figure 10 is the workflow diagram of wireless sensor node of the present invention;
Fig. 1 is a specification digest accompanying drawing of the present invention.
Among the figure: 1, Centroid, 2, via node, 3, wireless sensor node, 4, inspection center's computer.
Embodiment
As shown in Figure 1, wireless sensor network provided by the present invention is that the radio node in the wireless sensor network is divided three classes: i.e. Centroid 1, via node 2 and wireless sensor node 3; Wherein Centroid 1 is connected with inspection center computer 4, be used for from wireless sensor network collection network topology information and measurement data, send to computer and carry out data processing, and from computer, receive control command, send the radio node in the wireless sensor network wirelessly to; Via node 2 concentricity nodes 1 are formed the remote data transmission network of a multi-hop chain type topological structure, in the detecting unit of oneself being responsible for, collect simultaneously, the data of collecting are transmitted in inspection center's computer 4 through described chain type topological structure handle from the data of wireless sensor node 3; Wireless sensor node 3 selects to add the detecting unit of certain via node 2 control according to the information from via node 2 that receives, so that oneself image data is sent to this via node 2.
As Fig. 8～shown in Figure 10, this wireless sensor network has two kinds of mode of operations: the quasi real time data-transmission mode after initialize mode before the vibration signal sampling beginning and the vibration signal sampling beginning:
Initialize mode: after wireless sensor network is started working, at first work in initialize mode, finish the identification of network topology with synchronously.Via node 2 can add network by number order under this pattern, and wireless sensor node 3 can add network dynamically; Network uses super frame structure, (as Fig. 2) under initialize mode.It is starting point that super frame sends out the Init frame with Centroid 1, and is divided into two big time slots, promptly overall time slot and local time slot.In overall time slot, first jump via node 2 receive the Init frame that Centroid 1 sends after (as Fig. 3: Init message is the initial message that Centroid sends out, shared 18 bytes, each lattice is represented a byte.Preceding four bytes are Init signs, the 5th byte is to send via node ID number of Init message, the 6th byte is the usufructuary detecting unit of Local time slot number that has this super frame, and promptly the local time slot in each super frame only uses for a detecting unit.The seven, the Eight characters joint is the count value of Global time slot, and this is grouped in the direction of propagation in the network the 9th byte representation.Cross joint is the sampling sign, if ' 1 ' be exactly to notify each sensor node in the sampling time-delay given initial moment of sampling of control word, sampling parameter is on request sampled; If ' 0 ' then the expression also do not need at present the sampling.The the 11 and the 12 byte is a sampling time-delay control word.The the 13, the tenth nybble is the counting initial value in sampling time.The 15 byte is to tell whether the cell data that returned data last time correctly receives, if incorrect the reception, corresponding control nodes need retransmit the data of last time.The 16 byte is that sample clock generator overflows number of times.The tenth Eight characters joint is notified each node sample frequency, ' 1 ' represents 200Hz, ' 2 ' represents 100Hz, ' 3 ' represents 62.5Hz), just can obtain overall slot length, need to determine whether sampling, and judge which detecting unit the local time slot in the current super frame belongs to, afterwards, according to the moment that receives the Init frame with handle the time that the Init frame spent and the length of overall time slot, determine the moment that local time slot begins, start corresponding timer, realization is synchronous with Centroid 1, revise the jumping figure of Init frame and the length of overall time slot, and amended Init frame is forwarded, at this moment, first jumps via node 2 also needs to continue monitor channel, has or not follow-up via node 2 with judgement.If via node 2 is jumped in existence second, then the first jumping via node 2 enters the state of preparing to receive back information, and the second jumping via node 2 repeats the course of work of the first jumping via node 2.If certain via node 2 is in the stipulated time after sending the Init frame, not listening to has the transmission of follow-up via node 2 signal in the channel, can conclude that then oneself is the final jump node in the chain type topology.Final jump via node 2 at first upwards one is jumped via node 2 and is sent overall acknowledgement frame GCK (as Fig. 4: GCK bag is nodal information in the network, also is the sign that top mode begins to receive data.27 bytes are expanded but only used preceding 7 bytes, the byte of back to can be used for function altogether.First three byte is respectively ' G ', ' c ' and ' k ', is the sign of GCK bag, and the 4th byte is the number of via node in the network, and what unit are promptly arranged in the network.The number of sensor node in the unit that ID number of the via node that the 5th byte is current passback data, the 6th byte are current passback data.The 7th byte is the sign whether via node correctly receives packet).Each via node 2 also will judge whether the information of its detecting unit of being responsible for of needs oneself passback according to the field in the Init frame in passback GCK frame, if desired, then also want transmitting element information frame U_info after sending the Init frame.Via node 2 just enters wait state after finishing the transmission task, waits for the arrival of local time slot.After GCK and U_info frame arrived Centroid 1, Centroid 1 just can obtain the number and the ID information thereof of the wireless sensor node 3 that comprised in the detecting unit of appointment in the information of chain network jumping figure and the Init frame, thereby revises network topology table.
In overall time slot, wireless sensor node 3 main task be exactly to determine the own detecting unit that will add, and add just no longer change of back.The Init frame that wireless sensor node 3 trunk monitoring nodes 2 send, for simplicity, sensor node is selected the detecting unit of the source node management of its Init frame that successfully receives for the first time of adding, and from this Init frame, obtain the length of overall time slot and the jumping figure information of this via node 2, then, length according to communication time slot is determined to the moment that next super frame begins, thereby realization and Centroid 1 is synchronous.In addition, sensor node also will identify the detecting unit whether local time slot in this super frame belongs to its place from the Init frame.
After the arrival zero hour of local time slot, (see Fig. 5: Beacon message is to be used for via node sends to sensor node at the beginning at the Local time slot control information to have the usufructuary via node 2 transmission Beacon frames of this time slot.150 bytes altogether, first three byte is respectively ' B ', ' e ', ' a ', and this is the sign of Beacon message, is the sensor node ID number of success registration and distributed time slot number since the 4th byte.Each sensor node accounts for three bytes, and preceding two bytes are ID number, and the 3rd byte is that Control Node is the sending time slots number of its distribution), comprised the sensor node information that success is registered in the Beacon frame.Select to add the wireless sensor node 3 of this unit after receiving the Beacon frame, inspection has the log-on message that does not have oneself, if have, just be chosen in via node 2 and send to via node 2 with ID number in its distributed time slot, and via node 2 receives the information from sensor node in the time slot that dispenses, and can send an acknowledgement frame ACK after the end.Remaining local slot time is called the invitation time, also is divided into communication time slot one by one during this period of time.The ACK frame is replied registered sensor node on the one hand, indicates the beginning of invitation time on the other hand.The sensor node that in the Beacon frame, does not have the log-on message of discovery oneself, in the invitation time, select a communication time slot oneself ID number to be sent to the via node 2 of this unit at random, with realize initiate or the sensor node that do not succeed in registration to the registration work of via node 2, add this unit.
Data-transmission mode quasi real time: all nodes in confirming network can both operate as normal after, PC just can send the controlling of sampling instruction; After PC had sent the sampling instruction for Centroid 1, network entered quasi real time data-transmission mode; Centroid 1 is notified each node sample zero hour, sampling time length and sample frequency in Init message, each node enters the sampling stand-by period after getting access to useful information, so that sample simultaneously after sampling instant arrives.Under data-transmission mode quasi real time, the working timing figure of each radio node (is seen Fig. 6, R1-R4 among the figure: via node, U1-U4: detecting unit, T1-T4: sampling instant; A is via node receiving sensor data, B transmits the data of R4 to the center, C transmits the data of R3 to the center, D transmits the data of R2 to the center, E transmits the data of R1 to the center, F is that the sensor node of each detecting unit sends data to the corresponding relay node successively, and G is that the sensor node of each detecting unit receives synchronizing signal.) the real-time passback of wireless sensor node 3 image data, need be through two processes; At first, sensor node need send to the image data of oneself corresponding relay node 2, and the chain type junction network of being made up of via node 2 and Centroid 1 is sent to the computer 4 at center then.In first process, each detecting unit all uses the different wireless communication channel of distributing in advance, wireless sensor node 3 in each detecting unit is in the identical period, is in the own distributed time slot in the TDMA mode at this unit via node 2, measurement data packing is sent to the via node 2 of this unit, and the length of this communication period is by how many common decisions of the number and the data volume of unit inner sensor node; In second process, each via node 2 is cooperated with each other and at first the last data of jumping via node 2 is sent back Centroid 1, and then transmit the data of the last two jump via node 2, by that analogy, jump via node 2 until first oneself data are sent to Centroid 1; Second needed time of process is relevant with the jumping figure of chain type topology, and jumping figure is many more, and the time of cost is long more.
From satisfying the quasi real time requirement of transfer of data, the data of all via nodes 2 must send back Centroid 1 next time before sensor node is collected measurement data, otherwise can produce data stacking at the via node place, but it is higher to work as sample frequency, chain type topology jumping figure more for a long time, sampling just sends to measurement data corresponding relay node 2 if sensor node is whenever finished once, and then this task generally can not be finished in the time in sensor node sampling interval.The measure that the present invention takes is, after wireless sensor node 3 is repeatedly sampled continuously, and repeatedly sampled result packing again, the disposable via node 2 that sends to this unit, we will be called " sampling unit " during this period of time, determine when network design.Such measure has just reduced the number of communications of wireless sensor node 3 and via node 2, the call duration time that has prolonged the two at interval, for the data passback of via node 2 provides time enough.
Under data-transmission mode quasi real time, Centroid 1 is in accepting state always, receives the data from via node 2, does not have information to send, and therefore, other node in the wireless network can't be realized clock synchronization with Centroid 1.If do not take other synchronisation measures, the time drift of radio node clock can make network can lose very soon synchronously, can't operate as normal.The invention provides a kind of " embedded " simultaneous techniques, make network in the process of Centroid 1 passback data, to realize clock synchronization with final jump via node 2 at via node 2.Concrete measure is: in all via nodes 2 have been gathered this unit after the measurement data of wireless sensor node 3, when final jump via node 2 at first returns the measurement data of gathering, sensor node in the detecting unit of the last two jump via node 2 and 2 management of final jump via node, just according to moment of the Frame that receives, the wireless receiving and dispatching time of one frame data and the sampling period length of under initialize mode, obtaining, be determined to next sampling unit and also need begin time of waiting for, so just realized with final jump via node 2 synchronously.After the last two jump via node 2 is finished synchronous working, transmit the Frame that receives to jumping via node 2 third from the bottom immediately, at this moment, the sensor node of jumping via node 2 third from the bottom and 2 management of the last two jump via node, just can adopt above-mentioned method for synchronous to realize synchronously, the synchronizing process of subsequent node by that analogy, after the Frame of final jump via node 2 was transferred back to Centroid 1, all radio nodes had just all been realized synchronously.
Realize example: with 1,4 via nodes 2 of a Centroid and 12 sensor nodes is that example is narrated the present invention, wherein the hardware of the said Centroid 1 of the present invention, via node 2 and wireless sensor node 3 can adopt as: the Mega128 embedded scm is as processor, and the nRF2401 radio transmitting and receiving chip is finished radio transmission-receiving function; Wireless sensor node 3 adopts 16 high-precision a/d converters that the analog vibration signal is sampled, and sample frequency is 200Hz, carries out data interaction by the SPI interface between Mega128 and nRF2401.The transmission rate of nRF2401 is 1Mbps, the maximum length of each grouping (packet) is 32 bytes, comprising address and cyclic redundancy check (CRC) code CRC, use 2 byte addresses and 2 byte CRC in the actual design, valid data length is 27 bytes to the maximum in such grouping.Under such hardware platform, send a complete packet from a node, receive the time that this grouping needs cost 1249us to another node, consider the guard time between communication time slot, getting communication time slot length is 1.5ms, the sampling interval of wireless sensor node 3 is 5ms, and wireless sensor node 3 need be in this blanking time sends to corresponding relay node 2 to the data that collect together with oneself ID number, at slot length is under the situation of 1.5ms, and the time in sampling interval of 5ms only allows three sensor nodes to send data to a via node 2 successively; Be chosen as 3 wireless sensor nodes 3 of each detecting unit configuration; Because the valid data length of each grouping is 27 bytes to the maximum, for the data with via node 2 each passbacks can place a grouping, after can stipulating wireless sensor node 3 every continuous 4 samplings, oneself 8 bit ID number are sent to corresponding relay node 2 after together with the packing of 8 byte measurement data, each via node 2 can be received the information of 27 bytes altogether like this, just in time can send with a complete grouping; Select a sampling unit to carry out 4 samplings, the time is 20ms, and wherein 5ms is used for sensor node to 2 transmissions of corresponding relay node ID number and measurement data, also remains 15ms returns own unit for all via node 2 timesharing data; The size of each communication time slot is 1.5ms, and 15ms can only provide 10 time slots, can guarantee that just in time 4 via nodes 2 send back Centroid 1 with the data timesharing of collecting; If reduce the sample frequency of vibration signal, the wireless receiving and dispatching time that reduces to divide into groups like this, then can corresponding increase detecting unit and each unit in the number of wireless sensor node 3.Be illustrated in figure 7 as summary of the invention and realize in the example, the measuring-signal curve of two sensor nodes in first detecting unit and the 4th detecting unit, the two has accurate synchronized relation as seen from the figure, can satisfy the requirement of large scale structure state-detection.
The above; only be the preferable embodiment of the present invention; but protection scope of the present invention is not limited thereto; anyly be familiar with those skilled in the art in the technical scope that the present invention discloses; be equal to replacement or change according to technical scheme of the present invention and inventive concept thereof, all should be encompassed within protection scope of the present invention.
Claims (2)
1. the method utilizing wireless sensor network and carry out signal synchronous collection and quasi real time transmit is characterized in that this wireless sensor network has two kinds of mode of operations: the quasi real time data-transmission mode after initialize mode before the vibration signal sampling beginning and vibration signal sampling begin;
Described wireless sensor network comprises the steps: in initialize mode
The number of wireless sensor node (3) and their ID number in the detecting unit of a, the jumping figure that identifies the chain type topological structure and each via node (2) control,
B, be wireless sensor node (3) allocate communications time slot, and realize each via node (2), wireless sensor node (3) and Centroid synchronously;
After the wireless sensor network initialization finishes, send controlling of sampling instruction by Centroid (1) to wireless sensor network by inspection center's computer (4), comprise the sampling zero hour, sample frequency and the sampling duration;
Wireless sensor node (3) in each detecting unit is determined the zero hour of sampling after receiving the controlling of sampling instruction, network enters quasi real time data-transmission mode after arriving the zero hour of sampling; Described quasi real time data-transmission mode comprises the steps:
I, wireless sensor node (3) beginning sample frequency is as requested carried out signal sampling, and in the time in sampling interval, and the measurement data of oneself is sent to the via node of this detecting unit in the TDMA mode,
After the data grouping that all wireless sensor nodes (3) send in receiving this unit of ii, each via node (2), use the time slot of wireless sensor node (3) transmission next time data, the data transmission network of the data process chain type topological structure that receives is sent it back Centroid (1), consign to inspection center's computer (4) by Centroid (1) and handle.
2. the method for utilizing wireless sensor network and carrying out signal synchronous collection and quasi real time transmit according to claim 1 is characterized in that described quasi real time data-transmission mode also comprises: afterbody via node (2) is realized the step of clock synchronization in all wireless sensor nodes (3) and the chain type topological structure; When each via node (2) when receiving first packet, it is synchronous to revise clock and afterbody via node (2), after respectively organize the packet that wireless sensor node (3) receives via node (2) passback in the described detecting unit, when receiving the packet of synchronous mark, revise local clock, synchronous with the via node (2) in the described detecting unit.
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| CN109673045B (en) * | 2018-12-25 | 2021-01-05 | 北京农业信息技术研究中心 | Wireless sensor network time slot allocation multi-hop synchronous transmission system and method |
| CN112105079A (en) * | 2020-08-19 | 2020-12-18 | 吴穹 | Signal synchronization method of wireless two-way relay communication system based on OFDM |
| CN112788609B (en) * | 2021-03-04 | 2022-08-19 | 杭州时域软件有限公司 | Chain type wireless sensor network transmission method |
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| CN113702976A (en) * | 2021-08-20 | 2021-11-26 | 河北环鼎石油设备有限责任公司 | Automatic detection and identification device and identification method for ship berthing |
| CN115749739A (en) * | 2021-09-03 | 2023-03-07 | 北京助创科技有限公司 | Synchronous detection method and device for distribution efficiency of pumping well and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101051418A (en) * | 2006-04-05 | 2007-10-10 | 中国科学院电子学研究所 | Road and vehicle managing system and method based on radio sensor network |
| CN101059907A (en) * | 2006-04-19 | 2007-10-24 | 中国科学院电子学研究所 | Wireless sensor network-based river basin pollution monitor system and method |
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