CN109828513A - A kind of Chemical Manufacture patrols control system - Google Patents
A kind of Chemical Manufacture patrols control system Download PDFInfo
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- CN109828513A CN109828513A CN201811640934.6A CN201811640934A CN109828513A CN 109828513 A CN109828513 A CN 109828513A CN 201811640934 A CN201811640934 A CN 201811640934A CN 109828513 A CN109828513 A CN 109828513A
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Abstract
The invention discloses a kind of Chemical Manufactures to patrol control system.This Chemical Manufacture patrols control system and realizes chemical industry plant area inspection work, Support gas acquisition and gas hazard arbitration functions, support guidance function and automatic inspection function, the data information of data acquisition node that each on-site is set and is distributed in each region of plant area for acquiring distribution, by being bi-directionally connected at background process center with control equipment realization is patrolled, achieve the purpose that monitoring personnel is facilitated to monitor chemical reaction device ambient enviroment, to greatly facilitate the Chemical Manufacture of Chemical Manufacture personnel；It patrols control equipment and is no longer dependent on single equipment and technology, the precision and reliability for patrolling control equipment positioning can be greatly improved, while improve swept molding method identifies and positions precision, so that patrolling the more accurate high efficient and reliable of autonomous of control equipment.
Description
Technical field
The present invention relates to the technical field of filter device, in particular to a kind of Chemical Manufacture patrols control system.
Background technique
To digitize the main trend that the intellectualized technology for turning to core with network is current manufacturing industry technological revolution, just
In the developing state for changing industrial trade every field deeply.There is an urgent need to efficient, safe and environment-friendly produce for chemical engineering industry
Management, intellectualized technology will play an important role to Safety Production of Petroleum Chemical Industry, cost efficiency, Green Development etc. is promoted,
Therefore, digitlization, networking and industrialization depth integration is promoted to have become the inevitable requirement for promoting traditional chemical industry enterprise competitiveness.
But the above-mentioned more physics for being applied to address only single link in chemical production process in chemical production process for Internet of Things are joined
Amount monitoring and intelligent control, there are monitoring function, monitoring data type is single, data acquisition transmission speed is slow, intelligence degree
Low, interface is not intuitive etc..
Exploitation real time on-line monitoring, practical petrochemical industry plant area toxic gas monitoring system are raw for promoting China's petrochemical plant
Automation, intelligence are produced, safe process has great importance, while also having very big market potential.According to investigations, at present
In the market there is an urgent need to be a kind of low cost, the gas temperature of on line real-time monitoring petrochemical plant, humidity, carbon monoxide, dioxy
Change carbon, the environment petrochemical industry such as wind direction wind plant area monitoring poisonous gas equipment.For this requirement and China's oil Production in Chemical Plant
The gas leakage problem encountered studies one kind and had both met China's petrochemical plant working condition, and production safety guarantee is technically not less than
The petrochemical industry plant area toxic gas monitoring system of same kind of products at abroad is very important.
Equipment-patrolling is a critically important job during Chemical Manufacture operation and maintenance.Industrial crusing robot is a
Long-range control, mobile monitor, security alarm function are gathered in the intelligent robot of one.Industrial crusing robot is suitable for work
The ground such as factory, station, airport, stadiums, unattended computer room, warehouse.But existing crusing robot, function compare
It is single, it is not able to satisfy the application requirement of specific industry (such as Chemical Manufacture environment).
Summary of the invention
The object of the present invention is to provide one kind can be analyzed the real-time monitoring information of different chemical production equipments, hands over
Mutually and long-range control, the Chemical Manufacture for forming phase mutual feedback patrol control system.
Above-mentioned technical purpose of the invention has the technical scheme that
A kind of Chemical Manufacture patrols control system, including background process center and patrols control equipment, and the control equipment of patrolling includes:
Control module, the information sent for receiving other modules, and the information received is given to other moulds as needed
Block processing；
Drive module, signal connect the control module, the drive motor including controlling its movement by the control module；
Navigation system completes indoor guidance according to the position for patrolling control device location, electronic map and radio node；
Transmission module, receives the navigation system and control module information, and by the information be sent to the drive module and
Background process center is communicated wirelessly with multiple radio nodes, and each node records respective wireless telecommunications link information respectively；
Sensor module realizes that two-way signaling is connect with the system background processing center, in the chemical industry plant area of acquisition
Environmental parameter is respectively induced temperature signal, liquid level signal and pressure signal；Data acquire comparison module, with the sensor
Module is bi-directionally connected, for setting value to be collected and compared to temperature signal, liquid level signal and pressure signal；Feed back mould
Block is connect with the control module signal, for receiving the control instruction of the control module output, to carry out corresponding work
Make；
The output end of the data acquisition comparison module is connect with the input terminal of the feedback module, and the feedback module is defeated
Outlet is connect with the input terminal at the background process center.
Above-mentioned Chemical Manufacture patrols control system, described to patrol control equipment further include:
Data memory module, signal connect the control module, are used for store various types instruction repertorie and data；
Function operation module, signal connect the control module, for for user's regular job.
Above-mentioned Chemical Manufacture patrols control system, and the control equipment of patrolling further includes mobile module, and the mobile module includes driving
It moves motor and is set to the first driving wheel, the second driving wheel, two universal wheels and the differential mechanism for patrolling control device bottom；It is described
Drive motor drives first driving wheel and second driving wheel, when two-wheeled rotates at the same speed, institute by the differential mechanism
It states and patrols control equipment straight trip, when two-wheeled does not rotate at the same speed, the control equipment of patrolling is turned to；The universal wheel patrols control for remaining described
The balance of equipment.
Above-mentioned Chemical Manufacture patrols control system, and the transmission module uses ZigBee module；Pericardium in the background process
Monitoring host computer and ZigBee coordinator are included, each data acquisition node is connected by the ZigBee module respectively with monitoring system
ZigBee coordinator, ZigBee coordinator connect monitoring host computer.
Above-mentioned Chemical Manufacture patrols control system, and the navigation system includes:
Initialization module, for obtaining the initial cartographic information and radio node information of predeterminable area, and by wireless node location
After being combined with the initial cartographic information with server sync；
Locating module connects the transmission module, for determining present bit confidence according to the link information of first kind radio node
Breath, verifies current location information according to the link information of the second class radio node；
Correction module connects the control module, for after verifying location information and Current Scan result combine after with clothes
Business device synchronized update cartographic information.
Above-mentioned Chemical Manufacture patrols control system, and the navigation system includes map and position measuring module, and it is described fixed to connect
Position module, it is described to establish map for scanning ambient enviroment.
Above-mentioned Chemical Manufacture patrols control system, and the locating module is according to the difference of measurement parameter, including using based on connecing
It receives signal strength, carry out the verification based on angle of arrival and based at least one of signal time mode is received.
Above-mentioned Chemical Manufacture patrols control system, and the radio node includes:
Link block establishes corresponding wireless connection for transmitting/receiving wireless signal；
Communication module connects the link block, for wireless connection information to be transferred to server；
Power module then guarantees the power supply of node.
Above-mentioned Chemical Manufacture patrols control system, and the first kind radio node is bluetooth and/or WIFI node, and described second
Class radio node is UWB node.
Above-mentioned Chemical Manufacture patrols control system, and the sensor module includes humidity sensor DHT11, temperature sensor
DS18B20, carbon dioxide concentration measurement sensor MG811, HL-FS2 voltage-type simulation output air velocity transducer, HL-FX2 voltage
Type simulation output wind transducer, combustible gas sensor MQ-2 and optics dust sensor GP2Y1010AU0F.
In conclusion the invention has the following advantages: this Chemical Manufacture, which patrols control system, realizes chemical industry plant area inspection
Work, Support gas acquisition and gas hazard arbitration functions, support guidance function and automatic inspection function, set for acquiring distribution
Set the data information in each on-site and the data acquisition node being distributed in each region of plant area, by background process center with
It patrols control equipment realization to be bi-directionally connected, has achieved the purpose that monitoring personnel is facilitated to monitor chemical reaction device ambient enviroment, thus
Greatly facilitate the Chemical Manufacture of Chemical Manufacture personnel；It patrols control equipment and is no longer dependent on single equipment and technology, can substantially mention
Height patrols the precision and reliability of control equipment positioning, while improve swept molding method identifies and positions precision, so that patrolling control equipment
The more accurate high efficient and reliable of autonomous.
Specific embodiment
Invention is further described in detail below.
A kind of Chemical Manufacture patrols control system, including background process center and patrols control equipment, and the control equipment of patrolling includes:
Control module, the information sent for receiving other modules, and the information received is given to other moulds as needed
Block processing；
Drive module, signal connect the control module, the drive motor including controlling its movement by the control module；
Navigation system completes indoor guidance according to the position for patrolling control device location, electronic map and radio node；
Transmission module, receives the navigation system and control module information, and by the information be sent to the drive module and
Background process center is communicated wirelessly with multiple radio nodes, and each node records respective wireless telecommunications link information respectively；
Sensor module realizes that two-way signaling is connect with the system background processing center, in the chemical industry plant area of acquisition
Environmental parameter is respectively induced temperature signal, liquid level signal and pressure signal；Data acquire comparison module, with the sensor
Module is bi-directionally connected, for setting value to be collected and compared to temperature signal, liquid level signal and pressure signal；Feed back mould
Block is connect with the control module signal, for receiving the control instruction of the control module output, to carry out corresponding work
Make；
The output end of the data acquisition comparison module is connect with the input terminal of the feedback module, and the feedback module is defeated
Outlet is connect with the input terminal at the background process center.
Further, a kind of Chemical Manufacture of the present invention is patrolled in the preferred embodiment of control system, and the control equipment of patrolling also is wrapped
It includes:
Data memory module, signal connect the control module, are used for store various types instruction repertorie and data；
Function operation module, signal connect the control module, for for user's regular job.
Further, a kind of Chemical Manufacture of the present invention is patrolled in the preferred embodiment of control system, and the control equipment of patrolling also is wrapped
Include mobile module, the mobile module includes drive motor and is set to first driving wheel for patrolling control device bottom, second
Driving wheel, two universal wheels and differential mechanism；The drive motor drives first driving wheel and described by the differential mechanism
Second driving wheel, when two-wheeled rotates at the same speed, the control equipment of patrolling is kept straight on, described to patrol control equipment when two-wheeled does not rotate at the same speed
It turns to；The universal wheel is used to maintain the balance for patrolling control equipment.
Further, a kind of Chemical Manufacture of the present invention is patrolled in the preferred embodiment of control system, and the transmission module uses
ZigBee module；The background process center includes monitoring host computer and ZigBee coordinator, and each data acquisition node and monitoring are
System connects ZigBee coordinator by the ZigBee module respectively, and ZigBee coordinator connects monitoring host computer.
Further, a kind of Chemical Manufacture of the present invention is patrolled in the preferred embodiment of control system, and the navigation system includes:
Initialization module, for obtaining the initial cartographic information and radio node information of predeterminable area, and by wireless node location
After being combined with the initial cartographic information with server sync；
Locating module connects the transmission module, for determining present bit confidence according to the link information of first kind radio node
Breath, verifies current location information according to the link information of the second class radio node；
Correction module connects the control module, for after verifying location information and Current Scan result combine after with clothes
Business device synchronized update cartographic information.
Further, a kind of Chemical Manufacture of the present invention is patrolled in the preferred embodiment of control system, and the navigation system includes
Map and position measuring module connect the locating module, described to establish map for scanning ambient enviroment.
Further, a kind of Chemical Manufacture of the present invention is patrolled in the preferred embodiment of control system, the locating module according to
The difference of measurement parameter, including use based on received signal strength, be based on angle of arrival and be based on receiving in signal time at least
A kind of mode carries out the verification.
Further, a kind of Chemical Manufacture of the present invention is patrolled in the preferred embodiment of control system, and the radio node includes:
Link block establishes corresponding wireless connection for transmitting/receiving wireless signal；
Communication module connects the link block, for wireless connection information to be transferred to server；
Power module then guarantees the power supply of node.
Further, a kind of Chemical Manufacture of the present invention is patrolled in the preferred embodiment of control system, and the first kind wirelessly saves
Point is bluetooth and/or WIFI node, and the second class radio node is UWB node.
That is the zone location first in a manner of bluetooth or WIFI etc., is then verified in a manner of UWB.Bluetooth or WIFI positioning
When, room area is further divided into multiple grids, a bluetooth or WIFI node are set in each grid, patrol control equipment certainly
Bluetooth or WIFI module is arranged in body；When UWB verification positioning, the multiple UWB nodes of fixed setting in region patrol control equipment itself setting
UWB label.Specifically, bluetooth or WIFI mode are general only establishes a single connection patrolling between control equipment and node, patrols control equipment and exists
Establish connection in moving process with the node being arranged in current grid respectively, thus the node institute that can simply establish connection is right
Grid is answered to carry out Primary Location；And UWB mode can accurately calculate distance and bearing, thus result is accurately positioned with UWB and is carried out
Secondary verification.
Wherein, UWB technology is a kind of using 1GHz band above and without the advanced wireless communication technology of carrier wave.Although
Wireless communication, but its communication speed can achieve several hundred Mbit/s or more.Due to not needing expensive, bulky intermediate frequency
Equipment, UWB wireless location system it is small in size and at low cost.And the power spectral density of UWB system transmitting can be very low, even
Lower than electromagnetic compatibility background-noise level as defined in Federal Communications Commission, therefore short distance UWB radio communications system
It can be with other narrowband radio coexistence of communication systems.According to the difference of measurement parameter, base is can be used in the calculation of UWB positioning
In received signal strength, based on angle of arrival and based at least one of reception signal time.
For a label, the pulse signal issued arrives separately at the receiving sensor of at least two nodes, Mei Gechuan
Sensor obtains corresponding physical quantity respectively when receiving signal, two sensors may there are two receiving times t1, t2, when based on receiving
Between can calculate separately label to the distance of two sensors, it is in place that outgoing label institute is further calculated according to the intersection of two distances
It sets；Or two sensors may can calculate separately what label was likely to be at based on receiving angle there are two receiving angle a1, a2
Orientation further calculates outgoing label position according to the intersection in two orientation.There are two two sensors are also possible in actual conditions
Received signal strength can equally calculate separately label based on signal strength to the distance of two sensors, then calculate label
Position.Realize and position that there is structure simple, good concealment, strong security, low in energy consumption, multi-path resolved power using UWB technology
By force, the advantages that data transmission rate is high, penetration capacity is strong, registration, strong antijamming capability, except determining for achievable high-efficiency high-accuracy
Position, it is often more important that so that the recognition capability that the movement for patrolling control equipment does not depend solely on swept molding method to object, improves and patrol
Control the Performance And Reliability of equipment.
In a preferred embodiment of the invention, it is positioned based on the difference for receiving signal time.Solely using one
Poor counter uniformly records the time difference that label signal ω 1, ω 2, ω 3 reach each UWB node BS 1, BS2, BS3 etc. immediately, benefit
Outgoing label actual position information can be calculated with the difference between time difference and node.Using need not be strictly same between each node of which
The reference clock of step is avoided because of the asynchronous bring measurement error of reference clock starting point, thus effectively improving positioning accurate
System implementation complexity is reduced while spending.
Patrol control equipment it is mobile when obtain the initial cartographic information and radio node information of predeterminable area, and by radio node position
It sets and sends server after combining with initial cartographic information, with server sync；It is communicated wirelessly with multiple radio nodes, it is each to save
Point records respective wireless telecommunications link information respectively；Present bit confidence is determined according to the link information of first kind radio node
Breath, verifies current location information according to the link information of the second class radio node；By the location information after verification and work as
Cartographic information is updated with server sync after preceding scanning result combination.
Wherein, the position of multiple nodes is fixed and it is known that each node location and current location information use unified coordinate system
Coordinate indicate and mark.
In of the invention, the initial map that the traverse measurement in predeterminable area of control equipment generates predeterminable area is patrolled, while each
The position of a radio node is fixed and it is known that after node location and initial cartographic information are combined while being sent to server progress
It is synchronous.Traverse measurement includes but is not limited to pass through at least one sensor scanning week such as laser range finder, camera, infrared imaging
Surrounding environment.In an indoor activity region, the quantity of radio node setting and position are unrestricted in principle, as long as in region
It is inside evenly dividing grid and each grid and is arranged that 1 bluetooth or WIFI node, furthermore UWB node is arranged at least 2 or more i.e.
Can, it keeps its position to fix after node setting and node location information is recorded.
Before being positioned or being verified, each node location is marked in map first, then according to node location and wirelessly
Link information patrols current location of the control equipment on map to determine.In the preferred embodiment of the present invention, for bluetooth or WIFI
Map area is divided into grid matrix by positioning, and each node is arranged at each grid center, is obtained according to the nodal information for establishing connection
Know that it corresponds to grid and can carry out Primary Location.And UWB is positioned, model, reduces calculation amount to simplify the calculation, keeps away simultaneously
Exempt from interference of the complex environment to positioning, UWB node is fixed to four angle points of room area, while controlling equipment institute to patrolling
The label of carrying is positioned.The fixation position of node and the current location of robot can be using unified coordinate systems when positioning
Coordinate is indicated and is marked.In addition, the label positioned is obviously also not necessarily limited to one, by the difference of tag ID, the present invention can
Multiple labels are positioned simultaneously.
After obtaining the current location information for patrolling and controlling equipment, equipment is controlled to current location surrounding enviroment further combined with patrolling
Scanning result judges whether existing cartographic information is accurate；If cartographic information, there are deviation, synchronized update patrols control equipment kimonos
The cartographic information being engaged in device.The present invention is by a variety of wireless technology mixed positionings as a result, realizes and controls equipment swept molding method to patrolling
Amendment, so that improve swept molding method identifies and positions precision.
Synchronized update cartographic information includes: according to the location information after verification, further combined with to current location peripheral ring
The scanning result in border judges whether existing cartographic information is accurate；If there are deviation, synchronized update local kimonos for cartographic information
The cartographic information being engaged in device.
The autonomous for patrolling control equipment carrys out planning path dependent on map and self-position, wherein the foundation of map generally according to
Rely the sensing in sensor to surrounding enviroment, for example obtains the location and shape of each marker in environment by laser scanning, and
For self-position then by the stationkeeping ability for patrolling control equipment, the multiple positioning modes of the prior art are by comparing specific obstacle
Or marker, excessively to the recognition capability of object, the accuracy and equipment cost of identification are difficult to have ideal flat dependence sensor
Weighing apparatus.With the development of wireless communication technique, the volume of wireless device is smaller and smaller, cost is lower and lower, can be widely applied to
Wireless service quickly and efficiently is provided in small device.In the embodiment of the present invention, on the basis of sensor swept molding method, benefit
It is implemented in combination with the indoor positioning for patrolling control equipment with a variety of wireless technologys, and map is further corrected according to positioning result, thus greatly
Width improves the accuracy of map, recognition correct rate, while improving the efficiency and reliability of path planning and movement.
Further, a kind of Chemical Manufacture of the present invention is patrolled in the preferred embodiment of control system, the sensor module packet
Include humidity sensor DHT11, temperature sensor DS18B20, carbon dioxide concentration measurement sensor MG811, HL-FS2 voltage-type
Simulation output air velocity transducer, HL-FX2 voltage-type simulation output wind transducer, combustible gas sensor MQ-2 and optics
Dust sensor GP2Y1010AU0F.The sensor module is configured with multiple gas sensors, right for detecting pernicious gas
The pernicious gas of gas detection is judged, and judging result and corresponding gas collecting information are sent.
In conclusion this Chemical Manufacture, which patrols control system, realizes chemical industry plant area inspection work, Support gas acquisition and gas
Danger judgement function supports guidance function and automatic inspection function, for acquiring distribution setting in each on-site and being distributed in factory
The data information of data acquisition node in each region in area, by being bi-directionally connected at background process center with control equipment realization is patrolled,
Achieve the purpose that monitoring personnel is facilitated to monitor chemical reaction device ambient enviroment, to greatly facilitate Chemical Manufacture personnel
Chemical Manufacture；Patrol control equipment be no longer dependent on single equipment and technology, can greatly improve patrol control equipment positioning precision and
Reliability, while improve swept molding method identifies and positions precision, so that the autonomous for patrolling control equipment is more accurate efficiently
Reliably.
It should be noted that it can be directly on another component when component is referred to as " being fixed on " another component
Or there may also be components placed in the middle.When a component is considered as " connection " another component, it, which can be, is directly connected to
To another component or it may be simultaneously present component placed in the middle.When a component is considered as " being set to " another component, it
It can be and be set up directly on another component or may be simultaneously present component placed in the middle.Term as used herein is " vertical
", " horizontal ", "left", "right" and similar statement for illustrative purposes only.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more phases
Any and all combinations of the listed item of pass.
The present embodiment is only explanation of the invention, is not limitation of the present invention, and those skilled in the art exist
It can according to need the modification that not creative contribution is made to the present embodiment after reading this specification, but as long as in the present invention
Scope of the claims in all by the protection of Patent Law.
Claims (10)
1. a kind of Chemical Manufacture patrols control system, including background process center and patrol control equipment, it is characterised in that: described to patrol control equipment
Include:
Control module, the information sent for receiving other modules, and the information received is given to other moulds as needed
Block processing；
Drive module, signal connect the control module, the drive motor including controlling its movement by the control module；
Navigation system completes indoor guidance according to the position for patrolling control device location, electronic map and radio node；
Transmission module, receives the navigation system and control module information, and by the information be sent to the drive module and
Background process center is communicated wirelessly with multiple radio nodes, and each node records respective wireless telecommunications link information respectively；
Sensor module realizes that two-way signaling is connect with the system background processing center, in the chemical industry plant area of acquisition
Environmental parameter is respectively induced temperature signal, liquid level signal and pressure signal；Data acquire comparison module, with the sensor
Module is bi-directionally connected, for setting value to be collected and compared to temperature signal, liquid level signal and pressure signal；Feed back mould
Block is connect with the control module signal, for receiving the control instruction of the control module output, to carry out corresponding work
Make；
The output end of the data acquisition comparison module is connect with the input terminal of the feedback module, and the feedback module is defeated
Outlet is connect with the input terminal at the background process center.
2. a kind of Chemical Manufacture according to claim 1 patrols control system, it is characterised in that: described to patrol control equipment further include:
Data memory module, signal connect the control module, are used for store various types instruction repertorie and data；
Function operation module, signal connect the control module, for for user's regular job.
3. a kind of Chemical Manufacture according to claim 1 patrols control system, it is characterised in that: the control equipment of patrolling further includes moving
Dynamic model block, the mobile module include drive motor and are set to first driving wheel for patrolling control device bottom, the second driving
Wheel, two universal wheels and differential mechanism；The drive motor drives first driving wheel and described second by the differential mechanism
Driving wheel, described to patrol control equipment straight trip when two-wheeled rotates at the same speed, when two-wheeled does not rotate at the same speed, the control equipment of patrolling is turned to；
The universal wheel is used to maintain the balance for patrolling control equipment.
4. a kind of Chemical Manufacture according to claim 1 patrols control system, it is characterised in that: the transmission module uses
ZigBee module；The background process center includes monitoring host computer and ZigBee coordinator, and each data acquisition node and monitoring are
System connects ZigBee coordinator by the ZigBee module respectively, and ZigBee coordinator connects monitoring host computer.
5. a kind of Chemical Manufacture according to claim 1 patrols control system, it is characterised in that: the navigation system includes:
Initialization module, for obtaining the initial cartographic information and radio node information of predeterminable area, and by wireless node location
After being combined with the initial cartographic information with server sync；
Locating module connects the transmission module, for determining present bit confidence according to the link information of first kind radio node
Breath, verifies current location information according to the link information of the second class radio node；
Correction module connects the control module, for after verifying location information and Current Scan result combine after with clothes
Business device synchronized update cartographic information.
6. a kind of Chemical Manufacture according to claim 5 patrols control system, it is characterised in that: the navigation system includes map
And position measuring module, the locating module is connected, it is described to establish map for scanning ambient enviroment.
7. a kind of Chemical Manufacture according to claim 6 patrols control system, it is characterised in that: the locating module is according to measurement
The difference of parameter, including use based on received signal strength, based on angle of arrival and based at least one of reception signal time
Mode carries out the verification.
8. a kind of Chemical Manufacture according to claim 1 patrols control system, it is characterised in that: the radio node includes:
Link block establishes corresponding wireless connection for transmitting/receiving wireless signal；
Communication module connects the link block, for wireless connection information to be transferred to server；
Power module then guarantees the power supply of node.
9. a kind of Chemical Manufacture according to claim 8 patrols control system, it is characterised in that: the first kind radio node is
Bluetooth and/or WIFI node, the second class radio node are UWB node.
10. a kind of Chemical Manufacture according to claim 1 patrols control system, it is characterised in that: the sensor module includes
Humidity sensor DHT11, temperature sensor DS18B20, carbon dioxide concentration measurement sensor MG811, HL-FS2 voltage pattern
Quasi- output wind speed sensor, HL-FX2 voltage-type simulation output wind transducer, combustible gas sensor MQ-2 and optics powder
Dust sensor GP2Y1010AU0F.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110648419A (en) * | 2019-09-19 | 2020-01-03 | 陕西中建建乐智能机器人有限公司 | Inspection system and method for pipe gallery inspection robot |
| CN113192229A (en) * | 2021-05-12 | 2021-07-30 | 西安图迹信息科技有限公司 | Power plant inspection method based on wireless Bluetooth equipment |
| CN113375712A (en) * | 2021-04-30 | 2021-09-10 | 西安交通大学 | Special operation is looked and is smelt flexible thing of safe recognition and allies oneself with system |
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