CN111596596A - Industrial area sewage cleaning and dust reducing fire-fighting measurement and control system and measurement and control method based on Internet of things - Google Patents

Industrial area sewage cleaning and dust reducing fire-fighting measurement and control system and measurement and control method based on Internet of things Download PDF

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Publication number
CN111596596A
CN111596596A CN202010596489.9A CN202010596489A CN111596596A CN 111596596 A CN111596596 A CN 111596596A CN 202010596489 A CN202010596489 A CN 202010596489A CN 111596596 A CN111596596 A CN 111596596A
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main control
control unit
control system
signal
dust
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马久河
杨志业
杨万杰
王海艳
刘子欣
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Hebei Sendwe Pump Manufacturing Co ltd
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Hebei Sendwe Pump Manufacturing Co ltd
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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • G05B19/04Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0428Safety, monitoring
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/20Pc systems
    • G05B2219/24Pc safety
    • G05B2219/24215Scada supervisory control and data acquisition

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  • Automation & Control Theory (AREA)
  • Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)

Abstract

The invention relates to an industrial area sewage cleaning, dust falling, fire fighting measurement and control system based on the Internet of things, which comprises a field main control system and a remote measurement and control system based on the Internet of things, wherein the field main control system comprises a field main control unit provided with a display module, a signal comprehensive acquisition box communicated with the on-site main control unit through an electric signal, and a sensor array unit in electric signal communication with the signal comprehensive acquisition box, and a spray executing mechanism for receiving instructions of the on-site main control unit to act, the remote measurement and control system based on the Internet of things comprises a Beidou/GPS positioning module which is in electric signal communication with the signal comprehensive acquisition box, the wireless GPRS module is used for receiving the acquisition signals of the sensor array unit and the signals of the Beidou/GPS positioning module and transmitting the signals to the mobile base station, and the cloud server is used for receiving the signals of the mobile base station and carrying out remote data monitoring and remote control. The intelligent cleaning and dust-settling device can intelligently clean and settle dirt and dust, has a fire-fighting function and is high in working efficiency.

Description

Industrial area sewage cleaning and dust reducing fire-fighting measurement and control system and measurement and control method based on Internet of things
Technical Field
The invention relates to the technical field of dust-fall fire fighting equipment, in particular to an industrial area sewage cleaning and dust-fall fire fighting measurement and control system based on the Internet of things, and further relates to an industrial area sewage cleaning and dust-fall fire fighting measurement and control method based on the Internet of things.
Background
In the prior art, the environmental deterioration is caused by serious dust pollution in industrial areas such as a coal storage area of a mine field, a coal transporting wharf and the like, and a dust emission amount calculation formula is as follows:
Figure BDA0002557542330000011
Qp-dust pick-up, mg/s; w-water content of coal,%; u is the average wind speed of the coal storage yard, m/s;
Aparea of coal storage yard, m2β -the empirical factor,
it can be seen from the formula that the dust amount decreases with the decrease of the wind speed and the increase of the water content of the coal, but in the prior art, the common method is the traditional manual water spraying dust fall, the working efficiency is low and the water resource is wasted.
Disclosure of Invention
In order to solve the problems, the invention provides an industrial area sewage cleaning and dust falling fire control measurement and control system based on the Internet of things, which can intelligently complete sewage cleaning and dust falling, has a fire control function and is high in working efficiency.
The technical scheme adopted by the invention is as follows: the utility model provides a clean dirty dust fall fire control system of industry based on thing networking, includes on-the-spot main control system and based on the long-range system of observing and controling of thing networking, on-the-spot main control system including the on-the-spot main control unit that is equipped with display module, and with on-the-spot main control unit synthesizes the collection box via the signal of signal UNICOM, still include with the sensor array unit of signal synthesis collection box signal UNICOM, and receive on-the-spot main control unit instruction carries out the actuating mechanism that sprays of action, behind the sensor array unit acquisition signal via the signal synthesize the collection box transmit to on-the-spot main control unit, on-the-spot main control unit sends command control spray actuating mechanism action, on-the-spot long-range system of observing and controling include with the big dipper GPS orientation module of signal synthesis collection box signal UNICOM, and receive the acquisition signal of The wireless GPRS module of the mobile base station also comprises a cloud server side for receiving the mobile base station signal and carrying out remote data monitoring and remote control.
As a further limitation to the above technical solution, the signal comprehensive acquisition box comprises a single chip processor which communicates with the field main control unit via RS485, and a flash memory and/or an SD card; the solar energy power supply system also comprises a power supply management module with solar energy power supply and field commercial power supply, and a real-time clock.
As a further limitation to the above technical solution, the spray actuator includes a main motor and an auxiliary motor which are in control connection with the on-site main control unit, and a main pump and an auxiliary pump which are in transmission connection with the main motor and the auxiliary motor respectively; the water outlet pipeline is communicated with the water outlet ends of the main pump and the auxiliary pump, and a plurality of spraying devices are arranged on the water outlet pipeline in parallel.
As the further restriction to above-mentioned technical scheme, sensor array unit includes dust concentration sensor, fire alarm sensing module, locates first level sensor in the cistern, fire alarm sensing module includes that the smoke senses alarm, carbon monoxide alarm and fire alarm.
As a further limitation to the technical scheme, the on-site master control system further comprises a pipeline temperature measuring system, the pipeline temperature measuring system comprises a heat tracing band wound on part of the water outlet pipeline, and a pipeline temperature control box which is in control connection with the heat tracing band and is internally provided with a time temperature control module, and the pipeline temperature control box is in control connection with the signal comprehensive acquisition box.
As a further limitation to the above technical solution, the sensor array unit further includes a rainfall sensor.
As a further limitation to the above technical solution, the sensor array unit further includes a pressure sensor disposed on a water outlet pipeline of the main pressure release valve, the water outlet pipeline being far away from the water outlet ends of the main and auxiliary pumps.
As a further limitation to the technical scheme, the industrial area sewage cleaning, dust falling, fire fighting, measurement and control system based on the internet of things further comprises a sewage cleaning and circulating system, wherein the sewage cleaning and circulating system comprises a sewage discharge channel for collecting sewage and a sewage sedimentation tank communicated with the sewage discharge channel; still include with the motor of on-the-spot main control unit electricity UNICOM, and with the pump that motor drive connects, the income water end of pump via the inlet tube with sewage sedimentation tank intercommunication, the play water end of pump via the outlet pipe with the cistern intercommunication, in be equipped with second level sensor and quality of water sensor in the sewage sedimentation tank.
According to the industrial area sewage cleaning, dust falling, fire fighting measurement and control system based on the Internet of things, through the arrangement of the field main control system, the sensor array unit of the field main control system can transmit signals to the field main control unit through the signal comprehensive collection box after collecting the signals, the field main control unit sends instructions to control the action of the spray executing mechanism, so that automatic sewage cleaning, dust falling and fire fighting are achieved, and through the arrangement of the remote measurement and control system based on the Internet of things, remote monitoring and control of the system can be achieved.
The invention also provides an industrial area sewage cleaning and dust reducing fire control measurement and control method based on the Internet of things, which comprises the following steps:
(1) the dust concentration sensor senses the dust concentration of the industrial area and transmits the dust concentration to the on-site main control unit or the fire alarm sensing module to send out a fire alarm to the on-site main control unit;
(2) after the on-site main control unit judges that the dust concentration exceeds the standard or receives a fire alarm, the on-site main control unit controls the spray executing mechanism to act to perform spray dust reduction (fire extinguishing);
(3) in the process of the step (2), the pressure sensor senses the pipe pressure of the water outlet pipeline and transmits the pipe pressure to the field main control unit, when the pipe pressure is detected to be less than or equal to 1.5MPa, the field main control unit controls the main motor and the auxiliary motor to rotate simultaneously, the main motor and the auxiliary motor drive the main pump and the auxiliary pump which are in transmission connection with each other to operate, and the pipe pressure is boosted; when the pressure of the pressure sensor induction pipe is more than or equal to 2MPa, the on-site main control unit controls the main motor to rotate and the auxiliary motor to stop; when the pressure of the pressure sensor induction pipe is more than or equal to 2.5MPa, the on-site main control unit controls the main pressure relief valve to relieve pressure, and personnel check the blockage of the water outlet pipeline;
(4) in the step (2), the first water level sensor senses a water level signal and transmits the water level signal to the field main control unit, and when the water level signal is lower than a set value, a display module of the field main control unit displays abnormity to remind water injection;
(5) in the process of the step (2), the dust concentration sensor (fire sensing module) senses the dust concentration (fire signal) of the industrial area and transmits the dust concentration to the field main control unit, the field main control unit judges that the dust concentration reaches the standard (the fire signal is removed), and the spray execution mechanism is controlled to be closed.
Drawings
FIG. 1 is a schematic diagram of a sewage cleaning, dust reducing, fire fighting measurement and control system in an industrial area based on the Internet of things;
FIG. 2 is a schematic view of the internal control principle of the signal collection box of the present invention.
In the figure: 11-a field main control unit, 12-a signal comprehensive acquisition box, 121-RS485 communication, 122-a singlechip processor, 123-a flash memory, an SD card, 124-a power management module, 125-a real-time clock, 131-a dust concentration sensor, 132-a fire alarm sensing module, 133-a first water level sensor, 134-a rainfall sensor, 135-a pressure sensor, 141, 142-a main motor, an auxiliary motor, 143, 144-a main pump, an auxiliary pump, 145-a water storage tank, 146-a main pressure release valve, 147-an auxiliary pressure release valve, 15-a pipeline temperature control box, 21-a Beidou/GPS positioning module, 22-a mobile base station, 23-a wireless GPRS module, 24-a cloud service end, 31-a sewage discharge channel, 32-a sewage sedimentation tank, 33-a motor and 34-a pump, 35-a second water level sensor and 36-a water quality sensor.
Detailed Description
The invention is described in further detail below with reference to the figures and the embodiments.
Example one
As shown in fig. 1 and fig. 2, the industrial area sewage cleaning, dust falling, fire fighting, measurement and control system based on the internet of things integrally comprises a field main control system and a remote measurement and control system based on the internet of things, specifically, the field main control system comprises a field main control unit provided with a display module, a signal comprehensive acquisition box communicated with the field main control unit through an electric signal, a sensor array unit communicated with the signal comprehensive acquisition box through an electric signal, and a spray execution mechanism for receiving a command of the field main control unit to perform action, the sensor array unit transmits the signal to the field main control unit through the signal comprehensive acquisition box after acquiring the signal, and the field main control unit sends a command to control the spray execution mechanism to act.
Specifically, the signal comprehensive acquisition box comprises a single chip processor which is communicated with the field main control unit through RS485, and a flash memory and/or an SD card; the system comprises a single chip microcomputer processor, a flash memory and/or an SD card, and is characterized by further comprising a power management module and a real-time clock, wherein the power management module is provided with a solar power supply and a field commercial power supply, in this embodiment, the single chip microcomputer processor is the core of the comprehensive signal acquisition box and can simultaneously acquire sensor signals of 12 paths of sensor array units, and the acquired signals are stored in the flash memory and/or the SD card so as to realize power failure or power failure without data loss.
In the embodiment, the spray executing mechanism comprises a main motor and an auxiliary motor which are in control connection with the on-site main control unit, and a main pump and an auxiliary pump which are in transmission connection with the main motor and the auxiliary motor respectively; the water outlet pipeline is communicated with the water outlet ends of the main pump and the auxiliary pump, and the plurality of spraying devices are arranged on the water outlet pipeline in parallel, the water inlet ends of the main pump and the auxiliary pump are communicated to the reservoir through the water inlet pipeline provided with the gate valve, the auxiliary pressure release valves are respectively arranged at the positions, communicated with the spraying devices, of the water outlet pipeline, the main pressure release valves are arranged at the water outlet ends, close to the main pump and the auxiliary pump, of the water outlet pipeline, specifically, frequency converters are arranged at the positions where the main motor and the auxiliary motor are in control connection with the on-site main control unit, the arrangement number and the arrangement positions of the spraying devices are set according to the on-site requirements of an industrial area, and ball valves, electromagnetic valves.
In this embodiment, the sensor array unit includes dust concentration sensor, fire alarm sensing module, locates the first level sensor in the cistern, and is specific, and fire alarm sensing module includes smoke detector alarm, carbon monoxide alarm and fire detector alarm. In this example, dust concentration is transferredThe sensor adopts an online dust concentration sensor GCG1000, and the measurement range is 0-1000mg/m3The air return device is usually arranged near an operation area of an industrial factory, such as a coal mining area, and is arranged at a position which is 10-15m away from a main air return inlet of a mine, 10-15m away from a main air return inlet of the mine, a mine wing, 10-15m away from a main air return inlet of the mining area or 10-15m away from a return inlet of a mining working face.
In this embodiment, the sensor array unit further includes a rainfall sensor, and the rainfall sensor can sense a rainfall signal in the working area and transmit the signal to the field main control unit to determine whether the field environment needs to start the spray executing mechanism.
In this embodiment, the sensor array unit further includes a pressure sensor disposed on the water outlet pipeline of the main pressure release valve, which is far away from the water outlet ends of the main and auxiliary pumps, and the pressure sensor is configured to constantly monitor the pressure of the water outlet pipeline, so that the on-site main control unit can alarm and open the main pressure release valve when the water outlet pipeline exceeds a set pressure, thereby performing safety monitoring and protection on the water outlet pipeline.
In this embodiment, the on-site master control system further includes a pipeline temperature measurement system, the pipeline temperature measurement system includes a heat tracing band wound around a part of the water outlet pipeline, and a pipeline temperature control box in control connection with the heat tracing band and internally provided with a time temperature control module, the pipeline temperature control box is in control connection with the signal comprehensive acquisition box, and the pipeline temperature control system is arranged to prevent freezing of the pipeline in winter.
As shown in figure 1, the remote measurement and control system based on the Internet of things comprises a Beidou/GPS positioning module which is in electric signal communication with a signal comprehensive acquisition box, a wireless GPRS module which receives acquisition signals of a sensor array unit and signals of the Beidou/GPS positioning module and transmits the acquisition signals and the signals to a mobile base station, and a cloud server which receives signals of the mobile base station and carries out remote data monitoring and remote control.
Specifically, big dipper GPS orientation module does not receive the restriction of the condition of seeing through, but high accuracy real-time location monitoring, and the reaction is rapid, degree of automation is high, this module positioning time for the first time: cold start: 32 s; and (3) hot start: 5 s; and (3) recapture: <1 s; 2.5m of positioning precision (double-system positioning); sensitivity: tracking: 160dBm, capture: -147 dBm; the working temperature is-30 ℃ to +70 ℃. The wireless GPRS module supports a dual-mode navigation positioning module with two frequency points of BD2 and B1/GPS L1, is integrated with an embedded processor ARM7 by adopting an industrial wireless communication GPRS module, has high performance stability, integration level, sensitivity and signal capturing capability, and can realize positioning in a severe environment in the field. The wireless GPRS module carries out TCP/IP protocol conversion on the test data, the test data are sent to the mobile base station in the form of GPRS data packets, the mobile base station processes the data and then sends the processed data to the cloud server, the monitoring data can be received in real time, and multi-user remote monitoring data real-time sharing is achieved.
In the embodiment, the industrial area sewage cleaning, dust reducing, fire fighting, measurement and control system based on the internet of things further comprises a sewage cleaning and circulating system, wherein the sewage cleaning and circulating system comprises a sewage discharge channel for collecting sewage and a sewage sedimentation tank communicated with the sewage discharge channel; the system also comprises a motor electrically communicated with the on-site main control unit and a pump in transmission connection with the motor, wherein the water inlet end of the pump is communicated with the sewage sedimentation tank through a water inlet pipe, the water outlet end of the pump is communicated with the reservoir through a water outlet pipe, and a second water level sensor and a water quality sensor are arranged in the sewage sedimentation tank.
The sewage after dust fall or fire control is collected back to the sewage sedimentation tank through the blowdown canal, and through the back of deposiing, the quality of water sensor response quality of water condition and feedback to on-the-spot main control unit, if quality of water is up to standard, then recycles water pump to cistern to realize the circulation of sewage and recycle, and save the water resource.
Example two
An industrial area sewage cleaning and dust reducing fire-fighting measurement and control method based on the Internet of things comprises the following steps:
(1) the dust concentration sensor senses the dust concentration of the industrial area and transmits the dust concentration to the on-site main control unit or the fire alarm sensing module to send out a fire alarm to the on-site main control unit;
(2) after the on-site main control unit judges that the dust concentration exceeds the standard or receives a fire alarm, the on-site main control unit controls the spray executing mechanism to act to perform spray dust reduction (fire extinguishing);
(3) in the process of the step (2), the pressure sensor senses the pipe pressure of the water outlet pipeline and transmits the pipe pressure to the field main control unit, when the pipe pressure is detected to be less than or equal to 1.5MPa, the field main control unit controls the main motor and the auxiliary motor to rotate simultaneously, the main motor and the auxiliary motor drive the main pump and the auxiliary pump which are in transmission connection with each other to operate, and the pipe pressure is boosted; when the pressure of the pressure sensor induction pipe is more than or equal to 2MPa, the on-site main control unit controls the main motor to rotate and the auxiliary motor to stop; when the pressure of the pressure sensor induction pipe is more than or equal to 2.5MPa, the on-site main control unit controls the main pressure relief valve to relieve pressure, and personnel check the blockage of the water outlet pipeline;
(4) in the step (2), the first water level sensor senses a water level signal and transmits the water level signal to the field main control unit, and when the water level signal is lower than a set value, a display module of the field main control unit displays abnormity to remind water injection;
(5) in the process of the step (2), the dust concentration sensor (fire sensing module) senses the dust concentration (fire signal) of the industrial area and transmits the dust concentration to the field main control unit, the field main control unit judges that the dust concentration reaches the standard (the fire signal is removed), and the spray execution mechanism is controlled to be closed.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be able to cover the technical scope of the present invention by equally replacing or changing the technical idea of the present invention within the technical scope of the present invention.

Claims (9)

1. The utility model provides a clean dirty dust fall fire control system of industry district based on thing networking which characterized in that: the remote measurement and control system comprises a field main control system and a remote measurement and control system based on the Internet of things, wherein the field main control system comprises a field main control unit provided with a display module, a signal comprehensive acquisition box communicated with the field main control unit through an electric signal, a sensor array unit communicated with the signal comprehensive acquisition box through an electric signal, and a spray executing mechanism for receiving the instruction of the field main control unit to act, the sensor array unit collects the signal and transmits the signal to the field main control unit through the signal comprehensive acquisition box, the field main control unit sends an instruction to control the spray executing mechanism to act, the remote measurement and control system based on the Internet of things comprises a Beidou/GPS positioning module communicated with the signal comprehensive acquisition box through an electric signal, and a wireless GPRS module for receiving the collection signal of the sensor array unit and the signal of the Beidou/GPS positioning module and transmitting the collection signal to a mobile base station, the system also comprises a cloud server side for receiving the mobile base station signal and carrying out remote data monitoring and remote control.
2. The industrial area sewage cleaning, dust reducing, fire fighting measurement and control system based on the internet of things according to claim 1, characterized in that: the signal comprehensive acquisition box comprises a single chip processor which is communicated with the field main control unit through RS485, and a flash memory and/or an SD card; the solar energy power supply system also comprises a power supply management module with solar energy power supply and field commercial power supply, and a real-time clock.
3. The industrial area sewage cleaning, dust reducing, fire fighting measurement and control system based on the internet of things according to claim 1, characterized in that: the spray executing mechanism comprises a main motor and an auxiliary motor which are in control connection with the on-site main control unit, and a main pump and an auxiliary pump which are in transmission connection with the main motor and the auxiliary motor respectively; the water outlet pipeline is communicated with the water outlet ends of the main pump and the auxiliary pump, and a plurality of spraying devices are arranged on the water outlet pipeline in parallel.
4. The industrial area sewage cleaning, dust reducing, fire fighting measurement and control system based on the internet of things according to claim 3, characterized in that: the sensor array unit comprises a dust concentration sensor, a fire alarm sensing module and a first water level sensor arranged in the water storage tank, wherein the fire alarm sensing module comprises a smoke alarm, a carbon monoxide alarm and a fire alarm.
5. The industrial area sewage cleaning, dust reducing, fire fighting measurement and control system based on the internet of things according to claim 3, characterized in that: the on-site master control system further comprises a pipeline temperature measuring system, the pipeline temperature measuring system comprises a heat tracing band wound on a part of water outlet pipelines, and a pipeline temperature control box which is in control connection with the heat tracing band and is internally provided with a time temperature control module, and the pipeline temperature control box is in control connection with the signal comprehensive acquisition box.
6. The industrial area sewage cleaning, dust reducing, fire fighting measurement and control system based on the internet of things according to claim 4, characterized in that: the sensor array unit further includes a rainfall sensor.
7. The industrial area sewage cleaning, dust reducing, fire fighting measurement and control system based on the internet of things according to claim 4, characterized in that: the sensor array unit further comprises a pressure sensor arranged on a water outlet pipeline of the main pressure release valve, which is far away from the water outlet ends of the main pump and the auxiliary pump.
8. The industrial area sewage cleaning, dust reducing, fire fighting measurement and control system based on the internet of things according to claim 4, characterized in that: the industrial area sewage cleaning, dust falling, fire fighting, measurement and control system based on the Internet of things further comprises a sewage cleaning and circulating system, wherein the sewage cleaning and circulating system comprises a sewage discharge channel for collecting sewage and a sewage sedimentation tank communicated with the sewage discharge channel; still include with the motor of on-the-spot main control unit electricity UNICOM, and with the pump that motor drive connects, the income water end of pump via the inlet tube with sewage sedimentation tank intercommunication, the play water end of pump via the outlet pipe with the cistern intercommunication, in be equipped with second level sensor and quality of water sensor in the sewage sedimentation tank.
9. A method for controlling fire protection and dust removal in an industrial area based on the Internet of things is characterized by comprising the following steps:
(1) the dust concentration sensor senses the dust concentration of the industrial area and transmits the dust concentration to the on-site main control unit or the fire alarm sensing module to send out a fire alarm to the on-site main control unit;
(2) after the on-site main control unit judges that the dust concentration exceeds the standard or receives a fire alarm, the on-site main control unit controls the spray executing mechanism to act to perform spray dust reduction (fire extinguishing);
(3) in the process of the step (2), the pressure sensor senses the pipe pressure of the water outlet pipeline and transmits the pipe pressure to the field main control unit, when the pipe pressure is detected to be less than or equal to 1.5MPa, the field main control unit controls the main motor and the auxiliary motor to rotate simultaneously, the main motor and the auxiliary motor drive the main pump and the auxiliary pump which are in transmission connection with each other to operate, and the pipe pressure is boosted; when the pressure of the pressure sensor induction pipe is more than or equal to 2MPa, the on-site main control unit controls the main motor to rotate and the auxiliary motor to stop; when the pressure of the pressure sensor induction pipe is more than or equal to 2.5MPa, the on-site main control unit controls the main pressure relief valve to relieve pressure, and personnel check the blockage of the water outlet pipeline;
(4) in the step (2), the first water level sensor senses a water level signal and transmits the water level signal to the field main control unit, and when the water level signal is lower than a set value, a display module of the field main control unit displays abnormity to remind water injection;
(5) in the process of the step (2), the dust concentration sensor (fire sensing module) senses the dust concentration (fire signal) of the industrial area and transmits the dust concentration to the field main control unit, the field main control unit judges that the dust concentration reaches the standard (the fire signal is removed), and the spray execution mechanism is controlled to be closed.
CN202010596489.9A 2020-06-28 2020-06-28 Industrial area sewage cleaning and dust reducing fire-fighting measurement and control system and measurement and control method based on Internet of things Pending CN111596596A (en)

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CN115090443A (en) * 2022-07-08 2022-09-23 重庆大学 Real-time controllable spraying system based on target detection and control method

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CN115090443A (en) * 2022-07-08 2022-09-23 重庆大学 Real-time controllable spraying system based on target detection and control method

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