CN105825636B - Round-the-clock water flow monitoring and early warning system based on Internet of Things - Google Patents
Round-the-clock water flow monitoring and early warning system based on Internet of Things Download PDFInfo
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- CN105825636B CN105825636B CN201610359519.8A CN201610359519A CN105825636B CN 105825636 B CN105825636 B CN 105825636B CN 201610359519 A CN201610359519 A CN 201610359519A CN 105825636 B CN105825636 B CN 105825636B
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
- G08B21/10—Alarms for ensuring the safety of persons responsive to calamitous events, e.g. tornados or earthquakes
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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- F03B13/00—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F23/00—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
- G01F23/22—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F23/00—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
- G01F23/22—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water
- G01F23/28—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water by measuring the variations of parameters of electromagnetic or acoustic waves applied directly to the liquid or fluent solid material
- G01F23/284—Electromagnetic waves
- G01F23/292—Light, e.g. infrared or ultraviolet
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P5/00—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft
- G01P5/26—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft by measuring the direct influence of the streaming fluid on the properties of a detecting optical wave
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01W—METEOROLOGY
- G01W1/00—Meteorology
- G01W1/02—Instruments for indicating weather conditions by measuring two or more variables, e.g. humidity, pressure, temperature, cloud cover or wind speed
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Abstract
The present invention discloses a kind of round-the-clock water flow monitoring and early warning system based on Internet of Things.Using solar panels and stream generating device generate electricity and provide the energy for whole device, infrared transmitter and infrared remote receiver are wherein also equipped with inside stream generating device, judge water speed by taking turns slurry rotating speed;Multiple water sensors are also equipped with pilum of the present invention to judge water level, temperature sensor is also equipped with and baroceptor judges meteorological condition;GSM antenna, GSM communicating circuits, SIM card, MCU processors, A/D converter, memory are also equipped with inside device, data and warning information are sent to staff, the geography information of multiple water flow monitoring devices and the current conditions data of capture form a set of Internet of things system, implement round-the-clock monitoring and early warning to monitoring waters and work.
Description
Technical field
The present invention relates to Natural calamity monitoring device field, is supervised more particularly to a kind of round-the-clock current based on Internet of Things
Survey and early warning system.
Background technology
Flood is that the rise of the water bodys such as river, ocean, lake exceedes certain water level, threatens the safety about area, or even make
It is heavy rain, drastically rivers and lakes water caused by the natural cause such as melting ice and snow, storm tide increases sharply into the current of disaster,
A kind of or natural phenomena that water level rapidly goes up.Contrasted with historical summary, frequency and the order of severity and the population of flood increase
Trend is substantially uniform.It will be recognized that the population growth that China is swift and violent, expands arable land, reclaims land from a lake, indiscriminate felling of trees etc. is artificially broken
It is bad to be constantly changing the table status that lands, the condition of confluxing is changed, exacerbates big flood degree.Flood damage is China's occurrence frequency
Natural calamity high, damaging range is wide, the most serious on national economy influence.According to statistics, in the 1990s, China's big flood is made
Into about 12 000 hundred million yuans of direct economic loss, only 1998 just up to 2 600 hundred million yuans.Damage from a flood accounts for
The ratio of gross national product (GNP) is between 1%~4%, for 10~20 times of the developed countries such as the U.S., Japan.
In Mid-low latitude area, the generation of flood is formed by rain more.The drainage area of great rivers is big, and has the network of waterways, lake
Pool and reservoir are regulated and stored, the flood peak that the rain of different plays is formed in different tributaries, when being pooled to mainstream, the flood mistake in each tributary
Journey is often overlapped mutually, and composition lasts the shallower flood peak of longer fluctuation.The drainage area of river and the Regulation capacity of the network of waterways compared with
Small, a rain just forms a swift and violent flood peak of fluctuation, and rain flood can be divided into two major classes, and flash flood is precipitate turbulent flow, it
Flow at great speed along river, destroy all things, flash flood has fatal destructive power, and another kind is the great flood slowly to go up.
From the analysis of long series, the flood between year border has certain statistical regularity, the opportunity that extraodinary flood occurs
It is rare, and the opportunity that common flood occurs is with regard to a lot.So-called a-hundred-year or thousand years flood, be not century-old or
Can just occur once certainly in millennium.But according to statistics or field data, illustrate endless when interim there is opportunity
The interim average concept of more or few length.From the point of view of the flood that some rivers had occurred in the past, often met than actual in the recent period
To or measure big, also reflect the rule of this problem, this great flood investigated to acquire a special sense claims historical flood.
Therefore, people ensure the safety of people's lives and properties, and studying flood frequency or maximum probable flood is for the purpose of flood control
One critically important work.
Existing water flow monitoring device is broadly divided into two classes, and traditional dependence is checked gauge to supervise SEA LEVEL VARIATION, had
The camera that also added image information is passed into staff, shortcoming is labor intensive, it is necessary to which artificial round-the-clock check prison
Image is controlled, the less efficient and degree of reliability is low;, using satellite remote sensing technology monitoring Large River, shortcoming is river for another
Relatively minor swing be difficult to by satellite capture, expend larger fund and the degree of accuracy be relatively low.It is fast with sensor technology in recent years
Speed development, its sensitivity and the degree of accuracy are become better and better, and using sensor combination data message processing system, being at this stage can be real
The best mode of existing round-the-clock monitoring current.
The content of the invention
Therefore, the present invention is in order to monitor streamflow regime and carry out early warning to flood damage, there is provided a kind of based on Internet of Things
Round-the-clock water flow monitoring and early warning system, the water level and flow velocity in monitored waters can be accurately caught, while monitoring waters
Temperature and air pressure, provide data foundation for weather forecasting;Without specially laying circuit, mutually tied with generating power by water current by solar energy
The mode of conjunction, it is easier to occur the waters of big flood faster suitable for water speed.
The present invention provides a kind of round-the-clock water flow monitoring and early warning system based on Internet of Things, including pilum, generating power by water current
Device, water sensor, temperature sensor, baroceptor;
The pilum assigns into the bottom, is fixed by cement;The stream generating device, which is arranged on pilum, can submerge water
In position, the impact energy of current is converted into electric energy;
The stream generating device includes rotating shaft and housing, and the shaft head installation wheel slurry, afterbody is fishtail, wheel slurry
Plane of rotation is vertical with water (flow) direction, can make full use of the impact energy of current, coil, line are provided with the middle part of the rotating shaft
Circle both sides are fixed with two blocks of heteropole magnet by housing, and when wheel slurry rotates, coil cutting magnet-wire produces electric energy;
Infrared transmitter is also equipped with the rotating shaft, separately has infrared remote receiver with the infrared transmitter position correspondence
Fix on the housing, when wheel slurry often rotates a circle, infrared remote receiver receives an infrared ray;According to infrared receiver frequency
Rate, you can the rotary speed of wheel slurry is calculated, so as to calculate the flow velocity of water outlet;The wheel slurry, infrared transmitter, infrared remote receiver
Triplicity is equivalent to composition water speed sensor;
On the surface of pilum, it is used for catching water level along upper and lower to several water sensors are installed successively;
On the top of pilum, temperature sensor and baroceptor are installed, for detecting air themperature and air pressure, so as to
Judge precipitation probability;
GSM antenna, GSM communicating circuits, SIM card, MCU processors, A/D converter, storage are installed inside the pilum
Device.
Further, solar panels are installed at the top of the pilum, for absorbing solar energy and being converted into electric energy;
By in the respective battery that generates electricity and can be stored in inside pilum, battery is whole for the solar panels and stream generating device
The internal component of device provides stable electric energy.
Further, the stream generating device at least one, can set it is multiple, and at least one current
The infrared transmitter and infrared remote receiver are installed in TRT, can be obtained using in the case of ordinary water level water velocity as
It is accurate.
Further, the water sensor is contact Water immersion detector or non-contact type water soaked detector.
Further, the water sensor set on the pilum close to warning line, close to guaranteed water level, super
Cross guaranteed water level, close at dam designs water level, it is each to set one.
Further, the A/D converter is by infrared remote receiver, water sensor, temperature sensor, baroceptor
Analog signal is converted to data signal, is conveyed to MCU processors and stores, memory record water speed, water level, temperature, air pressure
Historical data, MCU processors judge warning grade according to historical data and current data;SIM card is arranged on GSM communicating circuits
On, related data and warning information can be sent to background system using GSM antenna.
Further, when water level is close to warning line, MCU processors judge to reach blue warning grade;When water level connects
During nearly guaranteed water level, MCU processors judge to reach yellow warning grade;When water level exceedes guaranteed water level, MCU processors judge
Reach orange warning grade;When water level is close to dam designs water level, MCU processors judge to reach red early warning grade;It is described
Blue early warning, yellow early warning, orange warning, red early warning grade raise successively.
Further, after being detected simultaneously by water speed and exceeding threshold value, MCU processors increase on the warning grade originally judged
Add one-level, highest increases to red early warning grade.
Further, after threshold value is exceeded according to temperature and air pressure data judging precipitation probability, MCU processors are sentenced originally
Also one-level is increased on disconnected warning grade, highest increases to red early warning grade.
The invention has the advantages that:
(1)Camera and satellite remote sensing, low energy consumption precision height are replaced using sensor;
(2)Stream generating device and water speed sensing device are combined, and one is multi-purpose to save space;
(3)Using generating electricity by natural energy, the obstacle for being difficult to laying-out in current is overcome;
(4)Geography information and communication device are combined into Internet of Things, realize round-the-clock Monitoring and forecasting system in real-time;
So this round-the-clock water flow monitoring and early warning system based on Internet of Things, can effectively monitor water level, water
Speed, meteorological condition, and the data of acquisition are carried out rationally judging early warning, for safeguarding national stability and ensureing people's lives and properties
Safety is of great importance.
Other features and advantages of the present invention will illustrate in the following description, or by implement the present invention and
Solution.
Brief description of the drawings
Accompanying drawing is only used for showing the purpose of specific embodiment, and is not considered as limitation of the present invention.
Fig. 1 is that each part is assemblied in the overall appearance figure on pilum in the present invention.
Fig. 2 is that stream generating device is assemblied in the local appearance figure on pilum in the present invention.
Fig. 3 is the internal structure schematic diagram of stream generating device in the present invention.
Fig. 4 is the connection diagram of information processing component and communication device in the present invention.
Fig. 5 is the flow chart of the monitoring and warning of the present invention.
Label in figure:1- pilums, 2- solar panels, 3- stream generating devices, 4- water sensors, 5- temperature sensors,
6- baroceptors, 7- infrared transmitters, 8- infrared remote receivers, 9- coils, 10- magnet, 11- wheel slurries.
Embodiment
Round-the-clock water flow monitoring of the present invention based on Internet of Things and early warning system are made below with reference to accompanying drawing further
It is described in detail.
As depicted in figs. 1 and 2, a kind of round-the-clock water flow monitoring and early warning system based on Internet of Things, its hardware mainly wrap
Include:Pilum 1, solar panels 2, stream generating device 3, water sensor 4, temperature sensor 5, baroceptor 6.
The pilum 1 assigns into the bottom, is fixed by cement;The top of pilum 1 is exposed the surface, the solar panels 2
Installed in the top of pilum 1, for absorbing solar energy and being converted into electric energy.The stream generating device 3 is arranged on pilum 1
Middle part or bottom can not there be the position of water, and the impact energy of current is converted into electric energy.In the cylindrical surface of pilum 1, under
Upwards(Or it is referred to as from top to bottom can also)Multiple water sensors 4 are installed successively, for catching water level.In the upper of pilum 1
Portion, close to the lower section of solar panels 2, temperature sensor 5 and baroceptor 6 are installed, for detecting air themperature and air pressure,
So as to judge precipitation probability.Solar panels 2 and stream generating device 3 by it is respective generate electricity can be stored in the inside of pilum 1 or
In the battery of bottom, battery provides stable electric energy for the internal component of whole device.
Heretofore described stream generating device 3 has unique structure, and the head of the rotating shaft of stream generating device 3 is provided with
Wheel slurry 11, afterbody is fishtail, as shown in Figures 2 and 3, by current impact hour wheel starch 11 Plane of rotations all the time with water (flow) direction
Vertically, the impact energy of current can be made full use of to store energy.As shown in figure 3, coil 9 is installed in the middle part of rotating shaft, 9 liang of coil
Side is installed with heteropole magnet 10 by housing, and when wheel slurry 11 rotates, wheel slurry drives the cutting magnetic line of coil 9 production in rotating shaft
Raw electric energy, coil 9 are connected with battery;Infrared transmitter 7 is installed on the inside of rotating shaft, separately has infrared remote receiver 8 to be fixed on shell
On body, wheel slurry 11 often rotates a cycle, and infrared remote receiver 8 receives an infrared ray, according to infrared receiver frequency, you can meter
The rotary speed of wheel slurry 11 is calculated, so as to calculate the flow velocity of water outlet;The wheel slurry 11, infrared transmitter 7, infrared remote receiver 8 three
Person is combined equivalent to composition water speed sensor.Housing is anchored on pilum 1 by fixture.
Further, the stream generating device 3 on pilum 1 can be set multiple, with generating can and solar energy be sent out
Electric energy disclosure satisfy that the normal operation of internal component is defined;Further say, be not that each stream generating device 3 is required for pacifying
Infrared transmitter 7 and infrared remote receiver 8 are filled, is installed only on the stream generating device 3 in lower position, with normal water
Water velocity can be obtained in the case of position to be defined.
As shown in figure 4, GSM antenna, GSM communicating circuits, SIM card, MCU processors, A/D are installed inside the pedestal 1
Converter, memory etc., A/D converter is by water speed sensor(Infrared remote receiver 8), water sensor 4, temperature sensor 5, gas
The analog signal of pressure sensor 6 is converted to data signal and is conveyed to MCU processors and stores, memory be used for record water speed,
Water level, temperature, barometric history data, MCU processors judge warning grade according to historical data and current data;SIM card is installed
On GSM communicating circuits, related data and warning information background system can be sent to using GSM antenna.
Further, the water sensor 4 divides for contact Water immersion detector and non-contact type water soaked detector, contact
Formula Water immersion detector, detected using liquid conduction principle, the two poles of the earth probe is by air insulation when normal, in Riddled Condition test
Head conducting, sensor output dry contact signal;Non-contact type water soaked detector be using light different medium section refraction with
Principle of reflection is detected.So being usually to reduce cost to use contact Water immersion detector, it is corrosive if containing in current
During pollutant, using non-contact type water soaked detector, both sensors directly can be bought in market.
When water sensor 4 is installed on pilum 1, pay attention to water logging sensing must be installed in special water level position
Device 4, special water level position is divided into close to warning line, close to guaranteed water level, more than guaranteed water level, close to dam designs water
Position.
As shown in figure 5, the process of water level early warning is:The waterlevel data that front is detected when device, water speed data, temperature
When data, barometric information are sent to backstage, from the background with defined waterlevel data, the water velocity of history, meteorological observatory issue temperature
Degree compares with barometric information.
When water level is close to warning line, MCU processors judge to reach blue early warning;When water level is close to guaranteed water level,
MCU processors judge to reach yellow early warning;When water level exceedes guaranteed water level, MCU processors judge to reach orange warning;Work as water
When position is close to dam designs water level, MCU processors directly judge to reach red early warning.
Above-mentioned so-called blue early warning, yellow early warning, orange warning, red early warning, simply the use color of artificial image is special
Levy to be distinguish between, and non-actual existence this kind of color, according to ordinary practice, blue early warning, yellow early warning, orange warning,
Red early warning represents that warning raises successively.
Influence of the water speed to dykes and dams is huge, according to the material used and design size of dykes and dams, can calculate water speed pair
The extent of damage of dykes and dams, according to the disaster data of historical record, water speed threshold value can be set, after water speed exceedes threshold value, dykes and dams
It will be easily subject to destroy, MCU processors increase one-level early warning in the early warning degree originally judged, i.e., blue early warning can upgrade
For yellow early warning, yellow early warning can upgrade to orange warning, and orange warning can upgrade to red early warning.
Precipitation can directly affect the water level of current, weather conditions can be estimated according to temperature and barometric information, according to note
The historical data of record, precipitation probability threshold value is set, same principle, after precipitation probability exceedes threshold value, MCU processors are sentenced originally
Also increase one-level early warning in disconnected early warning degree, i.e., blue early warning can upgrade to yellow early warning, and yellow early warning can upgrade to orange
Early warning, orange warning can upgrade to red early warning.
Above-mentioned water speed and reduction probability are two equality Rule of judgment arranged side by side, if water speed and precipitation probability exceed simultaneously
Corresponding given threshold, then will judge to increase two-stage on the basis of warning grade in water level, until reaching red early warning.
When the system is installed, pilum 1 is arranged on to the water flow spaces of relative risk as far as possible, and records the ground of pilum 1
Information is managed, because can also be positioned in the system comprising GSM antenna, GSM communicating circuits, SIM card using communication base station.
After system background receives warning information, water conservancy working personnel arrange work of flood prevention immediately, such as when judging current conditions more
After danger, carry out the local masses and evacuate the work such as transfer.The geography information of multiple monitoring devices and the current conditions data of capture
A set of Internet of things system is formed, implements round-the-clock monitoring and early warning to monitoring waters and works.
As can be seen here, the present invention is combined composition Internet of Things using geography information and communication device, and front uses with rear
Gsm communication, can not manually round-the-clock stay-at-home observation;Camera and satellite remote sensing are replaced using sensor, to current water level
It is sensitive Deng change;One device can realize multiple functions simultaneously, can sensed water level, and can detection water speed, moreover it is possible to detect water
Temperature and air pressure on face, moreover it is possible to carry out energy stores using generating electricity by natural energy;Generating power by water current and water speed sensing are combined, one
It is multi-purpose to save space.So this round-the-clock water flow monitoring and early warning system based on Internet of Things, can effectively monitor water
The situations such as position, water speed, meteorology, and the data of acquisition are carried out rationally judging early warning, for safeguarding national stability and ensureing people
The security of the lives and property is of great importance.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art the invention discloses technical scope in, the change or replacement that can readily occur in,
It should all be included within the scope of the present invention.
Claims (8)
1. a kind of round-the-clock water flow monitoring and early warning system based on Internet of Things, it is characterised in that sent out including pilum (1), current
Electric installation (3), water sensor (4), temperature sensor (5), baroceptor (6);
The pilum (1) assigns into the bottom, is fixed by cement;The stream generating device (3) can installed in pilum (1)
The position submerged in water;
The stream generating device (3) includes rotating shaft and housing, and the shaft head installation wheel slurry (11), afterbody is fishtail,
Wheel slurry (11) Plane of rotation is vertical with water (flow) direction, coil (9) is provided with the middle part of the rotating shaft, coil (9) both sides pass through shell
Body is fixed with two pieces of heteropole magnet (10), and infrared transmitter (7) is also equipped with the rotating shaft, separately have infrared remote receiver (8) with
Fix to infrared transmitter (7) position correspondence on the housing, when wheel slurry (11) often rotates a circle, infrared remote receiver
(8) infrared ray is received;
On the surface of pilum (1), it is used for catching water level along upper and lower to several water sensors (4) are installed successively;
On the top of pilum (1), temperature sensor (5) and baroceptor (6) are installed;
GSM antenna, GSM communicating circuits, SIM card, MCU processors, A/D converter, storage are installed inside the pilum (1)
Device;
The A/D converter is by infrared remote receiver (8), water sensor (4), temperature sensor (5), baroceptor (6)
Analog signal is converted to data signal, is conveyed to MCU processors and stores, memory record water speed, water level, temperature, air pressure
Historical data, MCU processors judge warning grade according to historical data and current data;SIM card is arranged on GSM communicating circuits
On, related data and warning information can be sent to background system using GSM antenna.
2. round-the-clock water flow monitoring and early warning system according to claim 1 based on Internet of Things, it is characterised in that in institute
State and solar panels (2), the solar panels (2) and stream generating device (3) are installed by respective institute's generating energy at the top of pilum (1)
It is stored in the internal battery of pilum (1).
3. round-the-clock water flow monitoring and early warning system according to claim 1 based on Internet of Things, it is characterised in that described
Stream generating device (3) at least one, and the installation infrared transmitter at least one stream generating device (3)
And infrared remote receiver (8) (7).
4. round-the-clock water flow monitoring and early warning system according to claim 1 based on Internet of Things, it is characterised in that described
Water sensor (4) uses contact Water immersion detector in the case of current non-corrosiveness pollutant, contains in current and is corrosive
During pollutant, using non-contact type water soaked detector.
5. the round-the-clock water flow monitoring and early warning system based on Internet of Things according to claim 1 or 4, it is characterised in that
The water sensor (4) set on the pilum (1) close to warning line, close to guaranteed water level, more than guaranteed water level,
It is each to set one close at dam designs water level.
6. round-the-clock water flow monitoring and early warning system according to claim 1 based on Internet of Things, it is characterised in that work as water
When position is close to warning line, MCU processors judge to reach blue warning grade;When water level is close to guaranteed water level, MCU processors
Judgement reaches yellow warning grade;When water level exceedes guaranteed water level, MCU processors judge to reach orange warning grade;Work as water
When position is close to dam designs water level, MCU processors judge to reach red early warning grade;
The blue early warning, yellow early warning, orange warning, red early warning grade raise successively.
7. round-the-clock water flow monitoring and early warning system according to claim 6 based on Internet of Things, it is characterised in that when same
When detect water speed exceed threshold after, MCU processors increase one-level on the warning grade originally judged, and highest increases to red
Warning grade.
8. round-the-clock water flow monitoring and early warning system according to claim 6 based on Internet of Things, it is characterised in that work as root
After exceeding threshold according to temperature and air pressure data judging precipitation probability, MCU processors also increase on the warning grade originally judged
One-level, highest increase to red early warning grade.
Priority Applications (1)
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CN110440142B (en) * | 2019-08-03 | 2024-03-26 | 厦门精图信息技术有限公司 | Pipeline safety monitoring and early warning system and method based on Internet of things technology |
CN110514272A (en) * | 2019-09-02 | 2019-11-29 | 浙江水文新技术开发经营公司 | A kind of Forecasting Flood prior-warning device and its application method |
CN111058991A (en) * | 2019-12-12 | 2020-04-24 | 永康市翰龙科技有限公司 | Step-by-step indirect excitation type water flow generator |
CN112185038B (en) * | 2020-09-29 | 2024-03-08 | 杭州郎稳智能科技有限公司 | Safe recovery power generation system |
CN113383730B (en) * | 2021-06-11 | 2022-07-26 | 华中农业大学 | Intelligent fish school feeding activity detection method based on water flow disturbance |
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