CN102855737A - All-dimensional harmful gas detection alarm device in welding field - Google Patents
All-dimensional harmful gas detection alarm device in welding field Download PDFInfo
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Abstract
The invention discloses an all-dimensional harmful gas detection alarm device in a welding field. Fixed detector arrays are mounted at middle and high positions of a workshop, mobile wireless detectors are installed on welding operators or welding masks and form a wireless detecting and controlling network, and concentration information of multiple points in stereoscopic space of the welding field is acquired; and the concentration state of harmful gas in the integral welding workshop is assessed on the basis of the concentration information of the multiple points of the stereoscopic space, and four different levels of alarm signals can be transmitted according to assessment results. The all-dimensional harmful gas detection alarm device has the advantages that the concentration of the harmful gas in the various points of the stereoscopic space of the welding production field can be detected, safety assessment and alarming for the integral workshop are realized, the harmful gas can be detected in fixed and mobile manners simultaneously, so that the all-dimensional concentration distribution condition of the harmful gas in the welding workshop can be obtained, and reliable information for gas safety assessment and alarming is provided.
Description
Technical field
The invention belongs to the environment measuring technical field, relate in particular to the comprehensive harmful gas of welding scene and detect and alarm method.
Background technology
In the welding production run, can produce a large amount of harmful gases, especially in job shops such as extensive machining occasion such as shipbuilding, boiler, automobiles.These harmful gases comprise CO, CO2, O3, NO2, HF etc., and the people is produced such as pathological reactions such as uncomfortable in chest, pulmonary emphysema, asthma and nervous centralis disorders, have a strong impact on workmen's health.But because the work field domain is large, welding capacity is large, air-flow is complicated, be difficult to the CONCENTRATION STATE of the harmful gas of whole welding shop is made safe assessment.
The current method of processing for the welding scene harmful gas mainly lays particular emphasis on suction and discharging, all proposed how to aspirate or discharge harmful smoke such as patent (200910043693.1), patent (201010505553.4), patent (CN2170120), patent (CN2759599), but the CONCENTRATION STATE of welding field harmful gas has not been carried out total evaluation and warning; In order to obtain the gas concentration information of specific position, patent (CN2884363) has adopted Portable type gas detection alarm instrument, can read the concentration information of present position, but can not exchange of information between each isolated node; When common installing gas detector, the position of gas sensor is also fixed often, there is not proposition to the gas concentration detection method of welder present position, whole workshop, so can not make safety assessment or in detail effective alarm method to the CONCENTRATION STATE of whole welding production scene gas.
Therefore the welder's operating position for welding scene move, the characteristics of air-flow complexity, seek new, harmful gas detects and alarm method reliably, to improving efficient that weld fumes processes, purifying welding operation environment important in inhibiting.
Summary of the invention
Goal of the invention: for the problem and shortage of above-mentioned existing existence; the purpose of this invention is to provide the comprehensive harmful gas detection, alarm device of a kind of welding scene; it is take detection that flexibility and reliability welding scene gas concentration comprehensive, with low cost is provided and alarm method as purpose, thereby improves welding job environment, protection welding operation personnel's health.
Technical scheme: for achieving the above object, the present invention is by the following technical solutions: the comprehensive harmful gas detection, alarm device of a kind of welding scene, comprise stationary detector array, flow-type wireless detector network, wireless information collection network and control and alarm, wherein: described stationary detector array, comprise a plurality of probe nodes, and fixedly be located at the sky of welding scene, for detection of the harmful gas concentration in welding scene high-altitude; Described flow-type wireless detector network, comprise a plurality of can wireless transmission the probe node of information, this probe node is carried or is located at by operating personnel on the welding mask, for detection of the harmful gas concentration of operating personnel present position; Described wireless information collection network, comprise a plurality of acquisition nodes, and corresponding with the position of the probe node of stationary detector array, be used for to receive the stationary detector array and the information of the harmful gas concentration that wireless detector network probe node sends when mobile, and the operating personnel present position is positioned; Described control and alarm, with stationary detector array and wireless information collection network connection, and the information control system of sending according to the wireless information collection network and reporting to the police.
Further, each acquisition node of described wireless information collection network comprises wireless communication module, three-dimensional perspective sensor, radio direction finding (RDF) module and direction finding module drive device, wherein: described wireless communication module is used for receiving the harmful gas concentration information that each probe node of flow-type wireless detector network sends; Described three-dimensional perspective sensor is fixed with the radio direction finding (RDF) module, and probe node positions in the convection current dynamic formula detector grid network; Described radio direction finding (RDF) module is for the position of mensuration with the flow-type detector network probe node of its communication; Described direction finding module drive device is used for driving the radio direction finding (RDF) module, can aim at rapidly the probe node of the flow-type detector network of with it communication.
Further, described wireless information collection network is as follows to the localization method of operating personnel present position:
Set up coordinate system, position by probe node in 3 acquisition node convection current dynamic formula wireless networks, the coordinate of these 3 acquisition nodes is known, is respectively O
1(x
1, y
1, z
1), O
2(x
2, y
2, z
2), O
3(x
3, y
3, z
3), the coordinate of establishing simultaneously described probe node is O
L, behind this flow-type probe node of the radio direction finding (RDF) module alignment of 3 acquisition nodes, obtain the three-dimensional perspective in coordinate system of corresponding acquisition node and this probe node by the three-dimensional perspective sensor; If O
L1Be line segment O
1O
LOn a bit, O
L2Be line segment O
2O
LOn a bit, O
L3Be line segment O
3O
LOn a bit, when these 3 o'clock on a surface level time, the z coordinate figure equated, establishes this three point coordinate and be respectively (x
O1, y
O1, z
o), (x
O2, y
O2, z
o), (x
O3, y
O3, z
o), calculate line segment O
L1O
L2, O
L2O
L3, O
L1O
L3Length, ask for this three line segment length square sums, as the formula (1):
(x
o1-x
o2)
2+(x
o2-x
o3)
2+(x
o1-x
o3)
2+(y
o1-y
o2)
2+(y
o2-y
o3)
2+(y
o1-y
o3)
2 (1)
In the formula (1), x
O1=x
1-(z
1-z
o) cos α 1/cos γ 1, y
O1=y
1-(z
1-z
o) cos β 1/cos γ 1;
x
o2=x
2-(z
2-z
o)cosα2/cosγ2,y
o2=y
2-(z
2-z
o)cosβ2/cosγ2;
x
o3=x
3-(z
3-z
o)cosα3/cosγ3,y
o3=y
3-(z
3-z
o)cosβ3/cosγ3;
In the following formula, coordinate (x
1, y
1, z
1), (x
2, y
2, z
2), (x
3, y
3, z
3), three-dimensional perspective (α 1, and β 1, and γ 1), (α 2, and β 2, and γ 2), (α 3, and β 3, and γ 3) be known, only remaining z
oAn independent variable then just becomes twin type (1) and asks one dimension minimum problem, and behind three coordinates of trying to achieve the value minimum that makes following formula, then the center of gravity of these three coordinates is O
LThe position of point, its coordinate figure is:
(（x
o1+x
o2+x
o3）/3,（y
o1+y
o2+y
o3）/3,z
o) (2)。
Beneficial effect: compared with prior art, the present invention has the following advantages: the concentration of toxic gases that has solved welding solid space each point place, production scene detects, whole shop safety is assessed, the warning problem; Adopt flow-type wireless detector network can obtain quickly the gas concentration information of each welding operation personnel positions of whole welding shop; Adopt approach fixing and that flow and detect simultaneously, can obtain the omnibearing harmful gas concentration distribution situation of welding shop, for gas safety assessment and warning provide authentic communication; According to correlation criterion welding shop gas safety state is assessed, reported to the police, make all the other welding smoke processing systems carry out relevant action according to these information, further promoted efficient and reliability that the welding flue gas is processed.
Description of drawings
Fig. 1 is the structured flowchart of harmful gas concentration detection alarm device of the present invention;
Fig. 2 is the position view of each node in stationary detector array of the present invention and the wireless information collection network;
Fig. 3 is the structured flowchart of acquisition node in the wireless information collection network of the present invention;
Fig. 4 is the relative position schematic diagram of probe node in acquisition node and the flow-type wireless detector in the wireless information collection network of the present invention;
Fig. 5 be in the flow-type wireless detector of the present invention probe node with respect to the three-dimensional perspective schematic diagram of acquisition node in the wireless information collection network;
Fig. 6 is each node workflow schematic diagram in the flow-type wireless detector network of the present invention;
Fig. 7 is each node workflow in the wireless information collection network of the present invention.
Wherein, stationary detector array 1, flow-type wireless detector network 2, wireless information collection network 3, control and alarm 4, probe node 5, acquisition node 3-1, the first acquisition node 3-1-1, the second acquisition node 3-1-2, the 3rd acquisition node 3-1-3.
Embodiment
Below in conjunction with the drawings and specific embodiments, further illustrate the present invention, should understand these embodiment only is used for explanation the present invention and is not used in and limits the scope of the invention, after having read the present invention, those skilled in the art all fall within the application's claims limited range to the modification of the various equivalent form of values of the present invention.
1. the overall plan that adopts of the present invention
Adopt approach fixing and that flow detection combines, namely in the middle and high position in workshop the fixed detector array is installed, the welding operation personnel with it or the welding mask flow-type wireless detector is installed and is formed the radio fest and control network, by these fixed detector arrays and wireless detector network, obtain multiple spot concentration information in the solid space of welding scene; On the multiple spot concentration information basis of these solid spaces, the harmful gas concentration state in the whole welding shop is assessed, send four kinds of alerting signals that grade is different according to assessment result.
2. harmful gas concentration detects and the warning system structure
As shown in Figure 1, harmful gas concentration detects with warning system and is comprised of following components: stationary detector array 1, flow-type wireless detector network 2, wireless information collection network 3, control and alarm 4.
Each node can adopt AM-CO carbon monoxide detector and the RBT6000 type CO2 detector with 485 communication interface agreements in the above-mentioned stationary detector array 1, is public technology; 485 buses are disclosed field bus technique.
Flow-type detector network is for detection of the harmful gas concentration of welding operation personnel present position, each probe node 5 in the flow-type detector network is carried or is installed on the welding mask by the welding operation personnel, so in real time the harmful gas concentration of mirror operation personnel present position.
Wireless information collection network 3 is used for accepting the information of each node of flow-type detector network, comprises two kinds of information: the harmful gas concentration information of welding operation personnel positions information and each streaming node.
As shown in Figure 2, in the stationary detector array 1 in each node and the wireless information collection network 3 installation site of each node corresponding one by one, in the stationary detector array 1 in each node and the wireless information collection network 3 each node all be mounted on the fieldbus, the point of fixity concentration information that gathers, pour point position and gas concentration information exchange are crossed fieldbus, are transferred to control and alarm 4.
3. welding region stationary detector array 1 and flow-type detector network information getting method
Such as Fig. 4, shown in Figure 6, each node of flow-type detector network is in the below of wireless information collection network 3 each node, when the node motion in the wireless detector network to new position or system when just having started shooting, node in the wireless detector network must outwards send the address signal of oneself, receive the node of this information in the wireless information collection network 3 and respond the affirmation node address; Then participate in the node of communication in the wireless information collection network 3, utilize the address of each flow detector, adopt one by one the mode of poll to obtain each pour point gas concentration data.
Such as Fig. 3, shown in Figure 7, the structure of each node is comprised of following components in the wireless information collection network 3: wireless communication module, three-dimensional perspective sensor, radio direction finding (RDF) module, direction finding module drive device, microprocessor, communication interface; Wireless communication module is used for receiving the concentration information that each node of flow-type detector network sends, three-dimensional perspective sensor and radio direction finding (RDF) module are fixed together, the radio direction finding (RDF) module is for the position of the flow-type detector network node of measuring with it communication, direction finding module drive device is used for driving the radio direction finding (RDF) module, enable to aim at rapidly the node of with it communication, thereby determine the position of flow detector node by the three-dimensional perspective sensor.
Wireless communication module can adopt short distance RF wireless radiofrequency transceiver module, is public technology;
The three-dimensional perspective sensor can adopt L3G4200D type three number of axle word gyro module, is public technology;
The radio direction finding (RDF) module can adopt PJ-2D type channels watcher, is public technology;
Direction finding module drive device can adopt three-D electric The Cloud Terrace (355 degree rotations, vertical 90 degree), is public technology;
The kernal hardware part of microprocessor can adopt TMS320LF2812 type DSP or PIC16F877A type single-chip microcomputer etc., is public technology;
Communication interface can be comprised of the preferred circuit of MAX485 chip, is public technology.
4. the location determining method of flow detector node
Determine the principle following (take 3 nodes as example) of flow detector node location at least by the three-dimensional perspective sensor of a plurality of (3) wireless information collection network 3 nodes:
Such as Fig. 4, shown in Figure 5, establish absolute coordinate system XYZ, coordinate origin is O; O1, O2, O3 are respectively absolute coordinate system XYZ and move to the relative coordinate that the first acquisition node (3-1-1), the second acquisition node (3-1-2), the 3rd acquisition node (3-1-3) in the wireless information collection network 3 form; After direction finding module drive device was aimed at the flow-type detector of with it communication, the coordinate of establishing certain flow-type detector center was O
L, then measure line segment O by the three-dimensional perspective sensor
1O
LThree-dimensional perspective is (α 1, and β 1, and γ 1) in coordinate system (X1-Y1-Z1); Similarly, can obtain line segment O
2O
LThree-dimensional perspective in relative coordinate system (X2-Y2-Z2) is (α 2, and β 2, and γ 2), line segment O
3O
LThree-dimensional perspective in relative coordinate system (X3-Y3-Z3) (α 3, and β 3, and γ 3).
Because the position of center in absolute coordinate system of each node is known in the radio direction finding (RDF) module, i.e. O1, O2, the coordinate (x of O3 point in absolute coordinate system
1, y
1, z
1), (x
2, y
2, z
2), (x
3, y
3, z
3) be known, establish O
L1Be line segment O
1O
LOn a bit, O
L2Be line segment O
2O
LOn a bit, O
L3Be line segment O
3O
LOn a bit, when these 3 o'clock on a surface level time, the z coordinate figure equated, establishes this three point coordinate and be respectively (x
O1, y
O1, z
o), (x
O2, y
O2, z
o), (x
O3, y
O3, z
o), calculate line segment O
L1O
L2, O
L2O
L3, O
L1O
L3Length, ask for this three line segment length square sums, as the formula (1):
(x
o1-x
o2)
2+(x
o2-x
o3)
2+(x
o1-x
o3)
2+(y
o1-y
o2)
2+(y
o2-y
o3)
2+(y
o1-y
o3)
2 (1)
In the formula (1), x
O1=x
1-(z
1-z
o) cos α 1/cos γ 1, y
O1=y
1-(z
1-z
o) cos β 1/cos γ 1;
x
o2=x
2-(z
2-z
o)cosα2/cosγ2,y
o2=y
2-(z
2-z
o)cosβ2/cosγ2;
x
o3=x
3-(z
3-z
o)cosα3/cosγ3,y
o3=y
3-(z
3-z
o)cosβ3/cosγ3;
By above as can be known, coordinate (x
1, y
1, z
1), (x
2, y
2, z
2), (x
3, y
3, z
3), three-dimensional perspective (α 1, and β 1, and γ 1), (α 2, and β 2, and γ 2), (α 3, and β 3, and γ 3) be known, only remaining z
oAn independent variable then just becomes twin type (1) and asks one dimension minimum problem, and available climbing method, sequential search method solve.Behind three coordinates of trying to achieve the value minimum that makes following formula, then the center of gravity of these three coordinates is O
LThe position of point, its coordinate figure is:
(（x
o1+x
o2+x
o3）/3,（y
o1+y
o2+y
o3）/3,z
o) (2)。
Obtain each node gas concentration information approach: please in conjunction with Fig. 4, after system started working, each node of wireless information collection network 3 was accepted the concentration information that flow-type wireless detector network 2 each node below it send; Because the welding operation personnel are mobile, node installation with flow-type detector network of different digital address numberings is carried on welding mask or by the welding operation personnel, so in real time mirror operation personnel present position harmful gas concentration state; In order to prevent that information from blocking up, restriction flow-type wireless detector network 2 each node wireless transmission range (less than 15m) make the number of nodes of the flow-type detector network that each node of wireless information collection network 3 receives within the unit interval limited.
Please in conjunction with Fig. 6, after the node of flow-type detector network was started working, workflow was as follows:
Step1: at first automatically report the address of self, until there is node to respond in the wireless detector network;
Step2: wait for that the node that participates in communication in the wireless detector network sends the poll instruction;
Step3: if do not receive at the appointed time the poll instruction, return Step1;
Step4: if received at the appointed time the poll instruction, then send this flow detector present position gas concentration, return Step2.
Each node of flow-type detector network is in the flow process of above-mentioned periodic duty always, until outage finishes.
Please in conjunction with Fig. 7, the workflow of each node of wireless information collection network 3 is as follows:
Step1: at first wait for whether having the node of flow-type detector network to report the address, if having, the address of record respective nodes also responds;
Step2: after after a while time-delay, continue to judge whether new reporting address, if new reporting address is arranged, then turn back to Step1, if do not have, forward next step to;
Step3: according to the address of having recorded, send the poll instruction, if do not respond in setting time, then return Step1, if in setting time response is arranged then change next step over to;
Step4: continue to send the poll instruction to this address, carry out communication with the flow detector node of this address, accept simultaneously the concentration information of appropriate address, for the work of direction finding module provides signal source;
Step5: judge whether direction finding work finishes, if do not finish, return Step4, if finish, forward next step to;
Step6: send the space angle information of appropriate address concentration information and the output of three-dimensional perspective sensor by fieldbus, return Step3.
Each node of wireless information collection network 33 is in the flow process of above-mentioned periodic duty always, until outage finishes.
After control and warning device 4 receive the concentration and the three-dimensional perspective with respect to three (or more than three) wireless information collection network 3 nodes of each flow detection point, can calculate the position of this flow detector according to formula (1), formula (2), thereby obtain the omnibearing gas concentration distribution situation of welding scene.
5. harmful gas concentration state estimation and warning
After the harmful gas concentration information of having obtained welding scene space multiple spot, just need to process these information, make corresponding judgement, system can carry out analysis and evaluation and warning in accordance with the following methods.According to European Union to the limit value of Occupational Exposure objectionable impurities (referring to document Dipl.-Ing, V.-E, Spiegel-Ciobanu. the welding and allied processes in objectionable impurities (). solder technology. the 31st in April, 2002 volume the 2nd phase), CO2, the aerial concentration limits definite value of CO gas are respectively 30mL/m
3, 5000mL/m
3, when control and warning device (4) receive each point of fixity concentration and pour point concentration and position signalling, make following warning form:
When 60% or the concentration of the detector of above number reach limiting concentration 60% the time, send blue early warning signal, remind site operation personnel's harmful gas concentration to gather;
When 60% or the concentration of the detector of above number reach limiting concentration 80% the time, send yellow early warning signal, remind site operation personnel's harmful gas concentration near limits value, need to strengthen venting practice;
When 60% or the concentration of the detector of above number reach limiting concentration 100% the time, send orange alerting signal, remind site operation personnel's harmful gas concentration to reach limits value, need immediately forced draft measure or evacuation;
When 60% or the concentration of the detector of above number reach limiting concentration 120% and when above, send the red alarm signal, remind site operation personnel's harmful gas concentration to surpass limits value, need immediately forced draft or evacuation.
Claims (3)
1. comprehensive harmful gas detection, alarm device of welding scene is characterized in that: comprise stationary detector array, flow-type wireless detector network, wireless information collection network and control and alarm, wherein:
Described stationary detector array comprises a plurality of probe nodes, and fixedly is located at the sky of welding scene, for detection of the harmful gas concentration in welding scene high-altitude;
Described flow-type wireless detector network, comprise a plurality of can wireless transmission the probe node of information, this probe node is carried or is located at by operating personnel on the welding mask, for detection of the harmful gas concentration of operating personnel present position;
Described wireless information collection network, comprise a plurality of acquisition nodes, and corresponding with the position of the probe node of stationary detector array, be used for to receive the stationary detector array and the information of the harmful gas concentration that wireless detector network probe node sends when mobile, and the operating personnel present position is positioned;
Described control and alarm, with stationary detector array and wireless information collection network connection, and the information control system of sending according to the wireless information collection network and reporting to the police.
2. the comprehensive harmful gas detection, alarm device of described welding scene according to claim 1, it is characterized in that: each acquisition node of described wireless information collection network comprises wireless communication module, three-dimensional perspective sensor, radio direction finding (RDF) module and direction finding module drive device, wherein:
Described wireless communication module is used for receiving the harmful gas concentration information that each probe node of flow-type wireless detector network sends;
Described three-dimensional perspective sensor is fixed with the radio direction finding (RDF) module, and probe node positions in the convection current dynamic formula detector grid network;
Described radio direction finding (RDF) module is for the position of mensuration with the flow-type detector network probe node of its communication;
Described direction finding module drive device is used for driving the radio direction finding (RDF) module, can aim at rapidly the probe node of the flow-type detector network of with it communication.
3. the comprehensive harmful gas detection, alarm device of described welding scene according to claim 2, it is characterized in that: described wireless information collection network is as follows to the localization method of operating personnel present position:
Set up coordinate system, position by probe node in 3 acquisition node convection current dynamic formula wireless networks, the coordinate of these 3 acquisition nodes is known, is respectively O
1(x
1, y
1, z
1), O
2(x
2, y
2, z
2), O
3(x
3, y
3, z
3), the coordinate of establishing simultaneously described probe node is O
L, behind this flow-type probe node of the radio direction finding (RDF) module alignment of 3 acquisition nodes, obtain the three-dimensional perspective in coordinate system of corresponding acquisition node and this probe node by the three-dimensional perspective sensor; If O
L1Be line segment O
1O
LOn a bit, O
L2Be line segment O
2O
LOn a bit, O
L3Be line segment O
3O
LOn a bit, when these 3 o'clock on a surface level time, the z coordinate figure equated, establishes this three point coordinate and be respectively (x
O1, y
O1, z
o), (x
O2, y
O2, z
o), (x
O3, y
O3, z
o), calculate line segment O
L1O
L2, O
L2O
L3, O
L1O
L3Length, ask for this three line segment length square sums, as the formula (1):
(x
o1-x
o2)
2+(x
o2-x
o3)
2+(x
o1-x
o3)
2+(y
o1-y
o2)
2+(y
o2-y
o3)
2+(y
o1-y
o3)
2 (1)
In the formula (1), x
O1=x
1-(z
1-z
o) cos α 1/cos γ 1, y
O1=y
1-(z
1-z
o) cos β 1/cos γ 1;
x
o2=x
2-(z
2-z
o)cosα2/cosγ2,y
o2=y
2-(z
2-z
o)cosβ2/cosγ2;
x
o3=x
3-(z
3-z
o)cosα3/cosγ3,y
o3=y
3-(z
3-z
o)cosβ3/cosγ3;
In the following formula, coordinate (x
1, y
1, z
1), (x
2, y
2, z
2), (x
3, y
3, z
3), three-dimensional perspective (α 1, and β 1, and γ 1), (α 2, and β 2, and γ 2), (α 3, and β 3, and γ 3) be known, only remaining z
oAn independent variable then just becomes twin type (1) and asks one dimension minimum problem, and behind three coordinates of trying to achieve the value minimum that makes following formula, then the center of gravity of these three coordinates is O
LThe position of point, its coordinate figure is:
(（x
o1+x
o2+x
o3）/3,（y
o1+y
o2+y
o3）/3,z
o) (2)。
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| CN105588920A (en) * | 2015-12-31 | 2016-05-18 | 青岛博泰美联化工技术有限公司 | Indoor gas parameter detection device and method |
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| CN107402532A (en) * | 2017-06-23 | 2017-11-28 | 深圳市盛路物联通讯技术有限公司 | One kind is based on Internet of Things workshop condition monitoring method and system |
| CN110046834A (en) * | 2019-05-13 | 2019-07-23 | 苏州大学 | Workplace pernicious gas health risk quantitative evaluating system and its appraisal procedure |
| CN110046834B (en) * | 2019-05-13 | 2022-06-24 | 苏州大学 | Workplace harmful gas health risk quantitative evaluation system and evaluation method thereof |
| IT202000004084A1 (en) | 2020-02-27 | 2021-08-27 | Raffineria Di Milazzo S C P A | AUTOMATIC SAFETY SYSTEM FOR WORKING ENVIRONMENTS AT RISK OF EXPLOSION |
| CN112215950A (en) * | 2020-10-19 | 2021-01-12 | 陈雨轩 | Three-dimensional reconstruction method for indoor toxic and harmful gas concentration |
| CN112215950B (en) * | 2020-10-19 | 2024-02-06 | 陈雨轩 | Three-dimensional reconstruction method for indoor toxic and harmful gas concentration |
| CN114002277A (en) * | 2021-11-02 | 2022-02-01 | 哈尔滨理工大学 | Three-dimensional toxic and harmful gas detection system and test method thereof |
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